Optimal Guaranteed Cost Control of Four-Wheel Steering Vehicle with Three Degree-of-Freedom

Xin Quan Yin; Ya Ping Zhang

doi:10.4028/www.scientific.net/AMM.574.557

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 574Optimal Guaranteed Cost Control of Four-Wheel...

Optimal Guaranteed Cost Control of Four-Wheel Steering Vehicle with Three Degree-of-Freedom

Abstract:

A nonlinear model of 4WS vehicle with three degree-of-freedom is established, Considering the uncertain characteristic of the tire lateral stiffness, an guaranteed cost control scheme was proposed for vehicle stability control, the optimal guaranteed cost control laws is derived in terms of linear matrix inequalities (LMIs). The simulation results show that transient response amplitude of the yaw rate , center side-slip angle and lateral acceleration can be decreased greatly, a good steady-state response can be achieved at a high speed, which improves the driving safety and handling stability.

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Periodical:

Applied Mechanics and Materials (Volume 574)

Pages:

557-563

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.574.557

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Online since:

July 2014

Authors:

Xin Quan Yin*, Ya Ping Zhang

Keywords:

Four-Wheel Steering (4WS), Optimal Guaranteed Cost Control, Parametric Uncertainty, Three Degree-Of-Freedom

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