Decoupling Control Algorithms for 4WS Vehicles

The problem of controlling the steering motion of four-wheel-steering (4WS) vehicles is studied using decoupling control algorithms. The vehicle (lateral/directional plus roll dynamics) model is controlled using a static state feedback law with static precompensator. The main goal is to independently control the steering angle and the sideslip angle of the vehicle. Necessary and sufficient conditions for the solution of the decoupling problem are presented. Analytic expressions of the controllers solving the steering - sideslip angle decoupling problem are derived. The form of diagonal decoupled closed loop system is presented. Simulation results illustrate the effectiveness of the controllers to a disturbed environment