Study on a four wheel steering vehicle driven at an objective side slip angle

Koresawa, M.; Shimosaka, Haruo

doi:10.1016/0389-4304(94)90006-x

Cited by 6 publications

(4 citation statements)

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“…Initially, the use of standard linear continuous regulators (even the simplest P regulator [45]) was considered in various executive configurations and measurement configurations generating control deviations. The introduction of classical regulation based on linear regulators mostly improved the lateral dynamics of the 4WS vehicle [26,29,30]. The articles [41,60,64] develop idea about linear regulators and it is possible to find more information in works [68], although not always [65], which was undoubtedly influenced by the proper configuration and parameters of the regulators.…”

Section: Structure 4wsmentioning

confidence: 99%

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Study of the problem and the idea of operation of four-wheel-steering cars

Faryński

Żardecki

Dębowski

2021

The Archives of Automotive Engineering – Archiwum Motoryzacji

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The article takes the form of a review paper and focuses on the control problems of four wheel steering vehicles. The main issues related to the control of four wheel steering (4WS) vehicles, the historical development, the current state and the approach to the construction of 4WS vehicles have been discussed. The whole of theoretical issues related to the control of the car direction (including elements related to mathematical modelling and simulation studies of the vehicle motion, issues of synthesis and analysis of the 4WS control algorithms) were presented systemically. The presented collection of literature is based on a rather extensive review relating to 4WS cars and on considerations shaping the concept of development of the topic of control algorithms in 4WS cars. A preliminary concept of control in autonomous cars is also presented and will be explain what type of road manoeuvres it is going to analyse. The authors have also shown an example of the computational apparatus used.

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Section: Structure 4wsmentioning

confidence: 99%

“…In the synthesis of control algorithms, simple mathematical models of the bicycle model type are usually used, e.g. [26,60,68], but sometimes slightly extended, e.g. by adding members expressing the effect of vehicle roll on its movements in the road plane.…”

Section: Structure 4wsmentioning

confidence: 99%

Study of the problem and the idea of operation of four-wheel-steering cars

Faryński

Żardecki

Dębowski

2021

The Archives of Automotive Engineering – Archiwum Motoryzacji

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“…The proper steer angle of the rear wheel in a 4WS vehicle can be determined and applied using a combination of a control system and an SBW system. Koresawa and Shimosaka [1] introduced two linear state feedback control systems for a rear wheel steer (RWS) system in a three degree-of-freedom (DOF) bicycle vehicle model. Sideslip angle as well as the ratio of the sideslip angle to the yaw rate is used as the desired values in each controller to maintain the position of the vehicle instantaneous centre.…”

Section: Introductionmentioning

confidence: 99%

Handling enhancement of a sliding-mode control assisted four-wheel steer vehicle

Kazemi

Shirazi

2011

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper is an investigation of the role of the robust control strategy of the rear wheel steer system to improve handling. To establish an accurate model of the vehicle, a nine degree-of-freedom (DOF) model is considered. The model's degrees of freedom consist of three angular motions (roll, pitch, and yaw) of the sprung mass, spin of the wheels, and two translational motions (forward and side travel) of the unsprung mass. Also, the environment and geometric effects, such as aerodynamic forces, tyre-ground interaction, body roll versus camber relation, steering command saturation, and roll axis inclination, are taken into account. The front and rear suspensions are assumed to be a MacPherson strut and semi-trailing arm respectively. Cornering behaviour of the vehicle is studied and compared for a manual two-wheel steer (2WS) and a sliding-mode control assisted four-wheel steer (4WS) vehicle. A 3-DOF vehicle model is used to make a fast state estimation. The yaw rate is used as the reference signal for the control system, to ensure that the desired handling is obtained. The results show that during the standard cornering manoeuvres, the sliding-mode control provides significant tracking performance and lower sensitivity to vehicle velocity, road condition, and roll axis inclination compared to the 2WS. Also lane tracking and cornering behaviour of the steering system is enhanced towards the neutral steer.

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“…Several control methods and algorithms, such as proportional control, delay control, phase reversal control, and ideal control, have been proposed for the 4WS systems [4][5][6][7][8][9][10][11][12][13][14][15][16]. The control law for steering rear wheels and the model used for the control law are two distinct characteristics for analysing the 4WS problem.…”

Section: Introductionmentioning

confidence: 99%

Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

Alfi¹,

Farrokhi²

2009

Vehicle System Dynamics

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This paper presents a fuzzy controller for high-speed four-wheel-steering (4WS) vehicles based on the state-feedback and the sliding-mode control methods. In the proposed fuzzy controller, the consequent part of the fuzzy IF-THEN rules consists of either a sliding-mode controller or a state-feedback controller. Also, it will be proved that, if every fuzzy rule is stable in the sense of Lyapunov for a general Lyapunov function, defined for the whole system, then the whole system is stable in the sense of Lyapunov. The effectiveness of the proposed method for handling improvement of the 4WS systems will be demonstrated by simulations using a nonlinear vehicle model. The simulation results show that the proposed control method can enhance the dynamic response of the 4WS vehicles by reducing the transient response time and improving vehicle stability as compared to the sliding-mode and the fuzzy sliding-mode control methods.

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Study on a four wheel steering vehicle driven at an objective side slip angle

Cited by 6 publications

References 0 publications

Study of the problem and the idea of operation of four-wheel-steering cars

Study of the problem and the idea of operation of four-wheel-steering cars

Handling enhancement of a sliding-mode control assisted four-wheel steer vehicle

Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

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