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Robust Nonlinear Decoupling and Yaw Stabilization of 4WS Cars

Ackermann, A. (1992) Robust Nonlinear Decoupling and Yaw Stabilization of 4WS Cars. DLR-Interner Bericht. 515-92-10. 24 S.

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Four-wheel car steering is modelled with nonlinear tire characteristics and kinematic nonlinearities for large steering angles. For this model a generic constant yaw-rate feedback law for decoupling of lateral and yaw motion is derived. For robust yaw stabilization a velocity scheduled yaw rate feedback to rear-wheel steering is given, by which the linear part of the system gets velocity independent yaw eigenvalues.

Item URL in elib:https://elib.dlr.de/27934/
Document Type:Monograph (DLR-Interner Bericht)
Additional Information: LIDO-Berichtsjahr=1992,
Title:Robust Nonlinear Decoupling and Yaw Stabilization of 4WS Cars
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Open Access:No
Number of Pages:24
Keywords:Automotive control; four-wheel car steering; robust nonlinear decoupling; robust pole assignment.
HGF - Research field:UNSPECIFIED
HGF - Program:Space (old)
HGF - Program Themes:W RP - Raumtransport
DLR - Research area:UNSPECIFIED
DLR - Program:W RP - Raumtransport
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:49

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