Stability and manoeuvrability analysis of vehicle with four wheel steering system

The paper deals with the dynamics and control of road vehicles with 4-wheel steering system. The usual assumptions of single track motion and neglecting of the roll motion are considered. The following problems are analyzed: a. the vehicle steady state motions both for straight driving and turn; b. the stability of the steady state motions for constant control applied to the front axle combined with feedback stability augmentation system applied to the rear axle; here the feedback is depending on the yaw velocity; and c. the role of the adaptive stabilization in order to cope with the uncertainties introduced by the tire-rolling track contact; a simple adaptive control algorithm is suggested whose convergence was previously proved by using a suitable Liapunov function