2019
DOI: 10.1109/access.2019.2935237
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Nonlinear Control of Active Four Wheel Steer-By-Wire Vehicles

Abstract: In this paper, a nonlinear triple-step steering controller for four wheel steer-by-wire vehicles has been presented to enhance handling stability. The proposed nonlinear triple-step steering controller commands the front and rear steering angles so as to track both the reference yaw rate and sideslip angle. Thus, it can effectively improve the tracking accuracy even if tyres of vehicles are working in extremely nonlinear region. Considering the influence of the driver on the handling stability, a PID driver mo… Show more

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Cited by 11 publications
(5 citation statements)
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References 34 publications
(35 reference statements)
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“…However, to make the vehicle quickly and accurately respond to the driver’s steering intention, the yaw rate output by the ideal two-degree-of-freedom model in Section 2.3 was taken as the ideal yaw rate γ des , and the ideal state value β des of the side slip angle was set to zero. 34,35 In the design of a fuzzy controller, the difference e ( γ ) between the actual and ideal values of the yaw rate and the difference e ( β ) between the actual value and ideal zero values of the side slip angle were taken as the control variables. The yaw moment Δ M 2 was determined using fuzzy reasoning.…”
Section: Control Strategy Based On Phase Plane Analysismentioning
confidence: 99%
“…However, to make the vehicle quickly and accurately respond to the driver’s steering intention, the yaw rate output by the ideal two-degree-of-freedom model in Section 2.3 was taken as the ideal yaw rate γ des , and the ideal state value β des of the side slip angle was set to zero. 34,35 In the design of a fuzzy controller, the difference e ( γ ) between the actual and ideal values of the yaw rate and the difference e ( β ) between the actual value and ideal zero values of the side slip angle were taken as the control variables. The yaw moment Δ M 2 was determined using fuzzy reasoning.…”
Section: Control Strategy Based On Phase Plane Analysismentioning
confidence: 99%
“…For improving vehicle stability, many researchers have studied the influence of the driver on the handling controllability, for instance, [35] proposed a PID driver model.…”
Section: Introductionmentioning
confidence: 99%
“…Literature [7] proposes the "Handing Modification System", Handing Modification System is a control scheme composed of feedforward, non-linear feedback and linear feedback items. In literature [8], considering the nonlinear characteristics of tires, the nonlinear three-step control strategy of active four-wheel linear steering vehicles is studied to improve the handling stability of four-wheel steering vehicles.…”
Section: Introductionmentioning
confidence: 99%