Nonlinear Control of Active Four Wheel Steer-By-Wire Vehicles

Yu, Shuyou; Li, Wenbo; Wang, Wuyang; Qu, Ting

doi:10.1109/access.2019.2935237

Cited by 11 publications

(5 citation statements)

References 34 publications

(35 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…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%

Direct yaw-moment control of vehicles based on phase plane analysis

Liu

Song

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

In view of the problems related to vehicle-handling stability and the real-time correction of the heading direction, nonlinear analysis of a vehicle steering system was carried out based on phase plane theory. Subsequently, direct yaw-moment control (DYC) of the vehicle was performed. A four-wheel, seven-degree-of-freedom nonlinear dynamic model that included the nonlinear characteristics of the tire was established. The stable and unstable regions of the vehicle phase plane were divided, and the stable boundary model was established by analyzing the side slip angle–yaw rate ([Formula: see text]) and side slip angle–side slip angle rate [Formula: see text] phase planes as functions of the vehicle state variables. In the unstable region of the phase plane, taking the instability degree as the control target, a fuzzy neural network control strategy was utilized to determine the additional yawing moment of the vehicle required for stability restoration, which pulled the vehicle back from an unstable state to the stable region. In the stable region of the phase plane, a fuzzy control strategy was utilized to determine the additional yawing moment so that the actual state variables followed the ideal state variables. In this way, the vehicle responded rapidly and accurately to the steering motion of the driver. A simulation platform was established in MATLAB/Simulink and three working condition was tested, that is, step, sine with dwell, and sine amplification signals. The results showed that the vehicle handling stability and the instantaneous heading-direction adjustment ability were both improved due to the control strategy.

show abstract

Section: Control Strategy Based On Phase Plane Analysismentioning

confidence: 99%

Direct yaw-moment control of vehicles based on phase plane analysis

Liu

Song

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…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%

A Modified Block Backstepping Controller for Autonomous Vehicle Lane Changing

2023

IJIES

View full text Add to dashboard Cite

In this paper, a modified block backstepping controller was formulated for double lane changing control of a two-degree-of-freedom (2DOF) autonomous vehicle. For a systematic procedure, a 5th-degree polynomial double lane change trajectory was created. Next, the state model dynamics of this underactuated 2DOF autonomous vehicle is presented, which was transformed into the block-strict feedback form. Thereafter, the block backstepping technique was implemented to achieve the control input (steering angle). For enhancing the steady state performance during the trajectory tracking, an integral action was included in the proposed controller. The stability of this controller was established through the Lyapunov theory. To investigate the effectiveness of this proposed controller, we compared it with a human driver's transfer function controller and LQR controller, in addition to the sliding mode controller. Simulation results were achieved using CarSim-Simulink. Later, this controller was implemented to track the same lane change path with a different road coefficient of friction. The supposed controller characteristic was further investigated by inspecting the motion of the vehicle when exposed to an idealized lateral step force disturbance. The simulation results indicated the power of modified block backstepping control and it has higher following accuracy, better yaw rate tracking, and stable front steering angle, at high speed and at high and low friction roads.

show abstract

“…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%

Simulation Analysis Of Vehicle Four-Wheel Steering Control

Men¹

2023

International Journal of Scientific Advances

View full text Add to dashboard Cite

In order to study the handling stability of four-wheel steering vehicle, the vehicle is simplified into a linear two-degree-of-freedom model. The fuzzy control technology is used to study the proportional feedforward + fuzzy feedback control strategy of four-wheel steering vehicle, and the fuzzy control toolbox in Matlab/Simulink is used to establish the four-wheel steering control system. The simulation results show that the fuzzy control can effectively improve the response of rear wheel steering, improve the maneuverability of the vehicle at low speed, reduce the turning radius, and improve the handling stability of the vehicle at high speed.

show abstract

Nonlinear Control of Active Four Wheel Steer-By-Wire Vehicles

Cited by 11 publications

References 34 publications

Direct yaw-moment control of vehicles based on phase plane analysis

Direct yaw-moment control of vehicles based on phase plane analysis

A Modified Block Backstepping Controller for Autonomous Vehicle Lane Changing

Simulation Analysis Of Vehicle Four-Wheel Steering Control

Contact Info

Product

Resources

About