Nonlinear Control of Active Four Wheel Steer-By-Wire Vehicles

被引：8
|
作者：
Yu, Shuyou [1 ,2 ]
Li, Wenbo [2 ]
Wang, Wuyang [2 ]
Qu, Ting [1 ,2 ]
机构：
[1] Jilin Univ, State Key Lab Automot Simulat & Control, Changchun 130022, Jilin, Peoples R China
[2] Jilin Univ, Coll Commun Engn, Changchun 130022, Jilin, Peoples R China
来源：
IEEE ACCESS | 2019年 / 7卷
基金：
中国国家自然科学基金;
关键词：
Four wheel steer-by-wire vehicle; handling stability; triple-step method; map; STABILITY CONTROL; ROBUST-CONTROL; 4WS VEHICLES; DESIGN; SYSTEM;
D O I：
10.1109/ACCESS.2019.2935237
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a nonlinear triple-step steering controller for four wheel steer-by-wire vehicles has been presented to enhance handling stability. The proposed nonlinear triple-step steering controller commands the front and rear steering angles so as to track both the reference yaw rate and sideslip angle. Thus, it can effectively improve the tracking accuracy even if tyres of vehicles are working in extremely nonlinear region. Considering the influence of the driver on the handling stability, a PID driver model is introduced. Both open-loop and closed-loop simulations are carried out in CarSim.
引用
收藏
页码：127117 / 127127
页数：11
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