期刊
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING
卷 218, 期 D10, 页码 1117-1123出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/095440700421801006
关键词
four-wheel steering; handling and stability; multiobjective control; yaw rate; H infinity
In this paper, a lateral controller is designed for four-wheel steering (4WS) vehicles. The linear lateral dynamics of 4WS vehicles are deduced and then analysed, aided with three-dimensional graphs. To improve vehicle handling and stability at high speed, a multiobjective H infinity optimal control algorithm is presented, while yaw rate is the only feedback signal. Simulation shows that the sideslip angle, yaw rate, and lateral acceleration of the 4WS vehicle follow and maintain preferable characteristics. The 4WS vehicle is agile and consistent with the steering input and does not understeer excessively.
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