NDLI: Input-Output Decoupling Control by Measurement Feedback in Four-Wheel-Active-Steering Vehicles

Content Provider	IEEE Xplore Digital Library
Author	Marino, R. Cinili, F.
Copyright Year	2006
Description	Author affiliation: Rome Tor Vergata Univ. (Marino, R.; Cinili, F.)
Abstract	The standard second order single track linearized model for four-wheel-steering vehicles is considered: yaw rate and lateral speed are the outputs to be controlled while front and rear steering angles are the control inputs (only additive steering angles with respect to the pilot commands are considered for the front wheels). It is shown that the lateral speed dynamics and the yaw rate dynamics can be decoupled by feeding back longitudinal speed, yaw rate and lateral acceleration measurements: lateral speed measurements are not required. The yaw rate tracking error dynamics follow a second order reference model with arbitrary poles, while the lateral speed dynamics tend exponentially to zero with a vehicle-dependent time constant and lateral acceleration tends to be proportional to the yaw rate. Simulations on a nonlinear third order single track model show significant improvements in the closed loop behaviour: larger stability regions, larger bandwidth, resonances suppression, improved manoeuvrability. A key feature of the input-output decoupling control is the improved comfort since both the lateral speed and the phase lag between lateral acceleration and yaw rate are greatly reduced
Starting Page	1715
Ending Page	1720
File Size	664937
Page Count	6
File Format	PDF
ISBN	1424401712
DOI	10.1109/CDC.2006.377274
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-13
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback Vehicle dynamics Acceleration Wheels Accelerometers Velocity measurement Poles and zeros Tracking loops Stability Bandwidth
Content Type	Text
Resource Type	Article

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