Decoupling Control for Nonlinear Models of 4WS Vehicles with Varying Longitudinal Velocity Performance

摘要：

This paper presents the decoupling control of a nonlinear pitch-bank road 4WS vehicle model. Decoupling conditions of the vehicle model are obtained, which are neither braking too hard that rear wheels leave the ground nor accelerating too fast that front wheels leave the ground. Under these decoupling conditions, the output-feedback control dynamic law and the decoupling result are gained. In the final decoupled system, longitudinal velocity is no longer coupled with lateral velocity or yaw rate, so the subsystem about lateral velocity and yaw rate are typical LPV system, in which parameters are functions of longitudinal velocity. Simulation results show that this decoupling law can improve safety and comfort of the vehicle driving.

关键词： Decoupling Control 4WS Vehicle Models Nonlinear System

作者: LI Mingxing JIA Yingmin DU Junping ZHANG Jun

作者单位: The Seventh Research Division and the Department of Systems and Control, Beihang University (BUAA), The Seventh Research Division and the Department of Systems and Control, Beihang University (BUAA), Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia, School of Computer School of Electronic and Information Engineering, Beihang University (BUAA), Beijing 100191, P. R. C

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4306-4311

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）