Performance analysis of 4WS vehicle based on different control strategy

The 2DOF model and differential equation of 4ws vehicle was established. Based on proportional control strategy of zero side-slip angles of mass center and smallest response error, the steering performance of vehicle was simulated. From results, we could know that zero side-slip angle of mass center control strategy was better, but vehicle had more under-steering characteristic in high speed. In order to solve this question, the control strategy of yaw rate feedback was used and steering performance was simulated. It provided that vehicle performance was improved at high speed using this strategy.