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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/ | ||||||||
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| 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: |
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| Date: | 1993 | ||||||||
| Open Access: | 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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