ROBUST DECOUPLING, IDEAL STEERING DYNAMICS AND YAW STABILIZATION OF 4WS CARS

被引：70

作者：

ACKERMANN, J

机构：

[1] German Aerospace Research Establishment (DLR), Institute for Robotics and System Dynamics, Oberpfaffenhofen

来源：

AUTOMATICA | 1994年 / 30卷 / 11期

关键词：

AUTOMOBILES; ROBUST CONTROL; DECOUPLING; NONLINEAR SYSTEMS;

D O I：

10.1016/0005-1098(94)90079-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Four-wheel car steering is modeled by a single-track model with nonlinear tire characteristics. A generic control law for robust decoupling of lateral and yaw motion by yaw-rate feedback to front-wheel steering is derived. Ideal steering dynamics are achieved by velocity-scheduled lateral acceleration feedback to front-wheel steering. For robust yaw stabilization a velocity-scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized system gets velocity-independent yaw eigenvalues.

引用

页码：1761 / 1768

页数：8

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