Title :
Variable structure model following control of active four-wheel-steering vehicle based on the optimal reference model
Author :
Qu, Qiuzhen ; Zhang, Jianwu ; Liu, Yanzhu
Author_Institution :
Sch. of Mech. Eng., Shanghai Jiaotong Univ., China
Abstract :
The optimal control laws of 4WS during single lane-change are studied using the driver model of the preview follower method based on a certain vehicle model. The actual vehicle models are considered as uncertain systems. The cornering stiffness of the front and rear wheels and outer disturbance vary over a limited range. An adaptative model-following variable structure control method is used for controlling the steering of front and rear wheels of the actual vehicle, so that the steering characteristics of an uncertain vehicle model can follow the characteristics of a reference model. Simulation results have demonstrated that the control system can overcome the drawbacks of parameter perturbations and outer disturbances
Keywords :
control system analysis; control system synthesis; model reference adaptive control systems; motion control; optimal control; road traffic; road vehicles; traffic control; uncertain systems; variable structure systems; active four-wheel-steering vehicle; control design; control simulation; cornering stiffness; optimal control laws; optimal reference model; outer disturbances; parameter perturbations; preview follower method; single lane-change; steering characteristics; uncertain systems; variable structure model following control; Angular velocity; Control systems; Force control; Mechanical variables control; Motion control; Stability; Uncertain systems; Vehicle driving; Vehicle safety; Wheels;
Conference_Titel :
Vehicle Electronics Conference, 1999. (IVEC '99) Proceedings of the IEEE International
Conference_Location :
Changchun
Print_ISBN :
0-7803-5296-3
DOI :
10.1109/IVEC.1999.830678
