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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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