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Ackermann, A. (1992) Robust Nonlinear Decoupling and Yaw Stabilization of 4WS Cars. DLR-Interner Bericht. 515-92-10. 24 S.
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Abstract
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 | ||||||
| Authors: |
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| Date: | 1992 | ||||||
| Open Access: | No | ||||||
| Gold Open Access: | No | ||||||
| In SCOPUS: | No | ||||||
| In ISI Web of Science: | No | ||||||
| Number of Pages: | 24 | ||||||
| Status: | Published | ||||||
| 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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