Browse Publications Technical Papers 2002-01-1589
2002-05-07

Time Delay Control of a 4WS Vehicle – A Comparison of Single and Dual Steering Control Strategies 2002-01-1589

A dual steering control, where steering angle of both rear and front wheels are controlled independently, and single rear steering control of a 4WS vehicle is studied. In this regard, a Time Delay Controller (here after called TDC) is proposed. The TDC performance is compared with the LQR optimal control method. Control schemes are based on the yaw and lateral velocity reference model following. A 3DOF linear vehicle model comprising yaw, lateral and roll motions is used to design the control laws. The time delay controller is a model reference tracker that estimates disturbances such as side wind, road irregularities and actual model nonlinearities, and considers them into the linear controller model.
Simulations based on steady state cornering and lane change maneuvers are presented. To establish the sufficient level of model complexity, a 3-DOF nonlinear simulation model comprising yaw, lateral and roll motions with CALSPAN tire coefficients is used.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 18% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:
TECHNICAL PAPER

A Theoretical Study on Front Steering Angle Compensation Control for Commercial Vehicles

2000-05-0244

View Details

TECHNICAL PAPER

A Comparison between Zero Steady State Compensators and Optimal Control Regulators in a 4WS vehicle

2002-01-1591

View Details

JOURNAL ARTICLE

Driver's Preview Strategy and its Impact on NATO Double Lane Change Maneuver

2011-01-0980

View Details

X