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Robust nonlinear decoupling and yaw stabilization of 4WS cars

Ackermann, J. (1993) Robust nonlinear decoupling and yaw stabilization of 4WS cars. In: Proc. 12th World Congress of the IFAC, vol. 1, pp. 7-10. Sydney, 18.-23.7.93.

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Four-wheel steering systems for cars are decoupled in order to split the control problem into two parts: i) the steering problem in which the driver only has to keep a mass point on his planned path and ii) the yaw stabilization problem. The decoupling and stabilization problems are robustly solved by yaw rate feedback. Four-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. 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/28010/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1993,
Title:Robust nonlinear decoupling and yaw stabilization of 4WS cars
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Journal or Publication Title:Proc. 12th World Congress of the IFAC
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Volume:vol. 1
Page Range:pp. 7-10
Keywords:Automotive control, four-wheel car steering, robust nonlinear decoupling, robust pole assignment
Event Title:Sydney, 18.-23.7.93
HGF - Research field:UNSPECIFIED
HGF - Program:other
HGF - Program Themes:other
DLR - Research area:UNSPECIFIED
DLR - Program:no assignment
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 06:51

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