Robust decoupling, ideal steering dynamics, and yaw stabilization of 4 WS cars

Kurzfassung

Four-wheel car steering is modelled by a single-track model with nonlinear tire characteristics. A generic control law for robust decoupling of lateral and yaw motion by yaw rate feedback to front-wheel steering is derived. Ideal steering dynamics are achieved by velocity-scheduled lateral acceleration feedback to front-wheel steering. For robust yaw stabilization a velocity scheduled yaw-rate feedback to rear-wheel steering is given, by which the linearized system gets velocity independent yaw eigenvalues.