Optimum control for active steering of vehicle based on H∞ model following technology

This paper introduces a new control scheme for active steering of vehicle. An ideal reference model followed by the four-wheel steering (4WS) vehicle is established resulting from the front-wheel steering (FWS) vehicle, and an H_∞ optimum controller for the 4WS vehicle is designed based on model following technology. The dynamic simulation is performed to verify control effect of the H_∞ controller, and the result shows that the H_∞ controller can apply to the 4WS vehicle system. It can not only minimize the sideslip angle of the 4WS vehicle to zero value, but also keep the yaw rate of the 4WS vehicle in accordance with the FWS vehicle. The handleability is further improved for 4WS vehicle.