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

Ackermann, J. (1993) Robust decoupling, ideal steering dynamics, and yaw stabilization of 4 WS cars. DLR-Interner Bericht. 515-93-30, 22 S.

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Abstract

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.

Item URL in elib:https://elib.dlr.de/28030/
Document Type:Monograph (DLR-Interner Bericht)
Additional Information: LIDO-Berichtsjahr=1993,
Title:Robust decoupling, ideal steering dynamics, and yaw stabilization of 4 WS cars
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ackermann, J.UNSPECIFIEDUNSPECIFIED
Date:1993
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Number of Pages:22
Status:Published
Keywords:Automobiles, robust control, decoupling, nonlinear systems
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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