Asymptotic Decoupling Control with Active Front Steering and Electronic Differentials in Four Wheel Steering Vehicles
In this paper the integrated control of electronic differentials with active front steering is investigated in order to improve vehicle steering dynamics. An asymptotic decoupling feedback control law is presented based on a second order vehicle model which is obtained from a seventh order nonlinear model by linearization and singular perturbation. It is shown that the lateral speed dynamics and the yaw rate dynamics can be decoupled in a steady state only by feeding back of the yaw rate, and lateral velocity measurement is not required. The eigenvalues of the controlled systems can be arbitrarily placed at the given speed domain. Furthermore, to improve the transient responses, the H∞ norm is performed with respect to the desired eigenvalues. Simulations show that the proposed controller can improve the vehicle steering dynamics since the corresponding eigenvalues can be placed to be all real at given speed domain to prevent oscillations.
CHEN Changfang JIA Yingmin GAO Qinghui YU Fashan
The Seventh Research Division, Beihang University (BUAA), Beijing 100191, P.R.China The Seventh Research Division, Beihang University (BUAA), Beijing 100191, P.R.China Key Laboratory Fashan Yu is with the School of Electrical Engineering and Automation, Henan Polytechnic University,
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）