Title: Feedback control of four-wheel steering using time delay control

Authors: Jun-Gyu Song, Yong-San Yoon

Addresses: Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yusung-ku, Taejon, 305-701, Korea. ' Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Yusung-ku, Taejon, 305-701, Korea

Abstract: In this paper, a new feedback controlled four-wheel steering (4WS) is proposed using a time delay control scheme which is suitable for the control of nonlinear systems. The proposed 4WS needs to sense the yaw velocity and its time derivative to estimate the disturbance and the vehicle parameter changes in the yaw dynamics. The control scheme is based on the yaw reference model following control. The selection of the yaw reference model is discussed through the stability analysis of the linear model not to make the total system unstable. The numerical simulation is performed by DADS®, a multibody simulation software package, with a 16 degrees of freedom full car model. The results show that the proposed 4WS has a robust yaw damping to the steering input and a robust yaw rate gain against external disturbance.

Keywords: feedback control; four wheel steering; time delay control; yaw velocity; numerical simulation; multibody simulation; full car models; modelling; vehicle design.

DOI: 10.1504/IJVD.1998.062077

International Journal of Vehicle Design, 1998 Vol.19 No.3, pp.282 - 298

Published online: 29 May 2014 *

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