Browse Publications Technical Papers 2002-01-1589

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.


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


Members save up to 43% off list price.
Login to see discount.
Special Offer: With TechSelect, you decide what SAE Technical Papers you need, when you need them, and how much you want to pay.