Multi-objective H∞ optimal control for four-wheel steering vehicle based on yaw rate tracking

被引：26
作者：
Lv, HM
Chen, N
Li, P
机构：
[1] Southeast Univ, Dept Mech Engn, Nanjing 210096, Peoples R China
[2] Yancheng Inst Technol, Dept Mech Engn, Yancheng, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING | 2004年 / 218卷 / D10期
关键词：
four-wheel steering; handling and stability; multiobjective control; yaw rate; H infinity;
D O I：
10.1177/095440700421801006
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
In this paper, a lateral controller is designed for four-wheel steering (4WS) vehicles. The linear lateral dynamics of 4WS vehicles are deduced and then analysed, aided with three-dimensional graphs. To improve vehicle handling and stability at high speed, a multiobjective H infinity optimal control algorithm is presented, while yaw rate is the only feedback signal. Simulation shows that the sideslip angle, yaw rate, and lateral acceleration of the 4WS vehicle follow and maintain preferable characteristics. The 4WS vehicle is agile and consistent with the steering input and does not understeer excessively.
引用
收藏
页码：1117 / 1123
页数：7
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