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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Abstract
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/ | ||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||
Additional Information: | LIDO-Berichtsjahr=1993, | ||||||
Title: | Robust nonlinear decoupling and yaw stabilization of 4WS cars | ||||||
Authors: |
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Date: | 1993 | ||||||
Journal or Publication Title: | Proc. 12th World Congress of the IFAC | ||||||
Open Access: | No | ||||||
Gold Open Access: | No | ||||||
In SCOPUS: | No | ||||||
In ISI Web of Science: | No | ||||||
Volume: | vol. 1 | ||||||
Page Range: | pp. 7-10 | ||||||
Status: | Published | ||||||
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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