Controllability and Stability Aspects of Actively Controlled 4WS Vehicles

Ohnuma, Akira; Metz, L. Daniel

doi:10.4271/891977

Cited by 16 publications

(3 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The transition from slipping to complete sliding shows the force saturation behaviour observed in tyre tests [21,30]. In tyre modelling, the interaction between the longitudinal and lateral forces is the most important factor.…”

Section: Appendix 1 Tyre Modelmentioning

confidence: 95%

See 1 more Smart Citation

Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

Alfi¹,

Farrokhi²

2009

Vehicle System Dynamics

View full text Add to dashboard Cite

This paper presents a fuzzy controller for high-speed four-wheel-steering (4WS) vehicles based on the state-feedback and the sliding-mode control methods. In the proposed fuzzy controller, the consequent part of the fuzzy IF-THEN rules consists of either a sliding-mode controller or a state-feedback controller. Also, it will be proved that, if every fuzzy rule is stable in the sense of Lyapunov for a general Lyapunov function, defined for the whole system, then the whole system is stable in the sense of Lyapunov. The effectiveness of the proposed method for handling improvement of the 4WS systems will be demonstrated by simulations using a nonlinear vehicle model. The simulation results show that the proposed control method can enhance the dynamic response of the 4WS vehicles by reducing the transient response time and improving vehicle stability as compared to the sliding-mode and the fuzzy sliding-mode control methods.

show abstract

Section: Appendix 1 Tyre Modelmentioning

confidence: 95%

“…In Figure 2, δ f and δ r are inputs to the front and the rear steering wheels, respectively. The equations of motion are as follows [21]:…”

Section: Vehicle Modelmentioning

confidence: 99%

Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

Alfi¹,

Farrokhi²

2009

Vehicle System Dynamics

View full text Add to dashboard Cite

show abstract

“…Ohnuma and Metz [25] employed the Davidson method [26], used to develop robust feedback controller, to derive two rear wheel controllers. The first RWC actuated the rear wheel proportional to the front wheel.…”

Section: Non-optimal Controllersmentioning

confidence: 99%

A methodology to investigate automobile handling and stability

Samsundar

View full text Add to dashboard Cite

INFORMATION TO USERSThis manuscript has been reproduced from the microfilm master. UMI films the text directly from the original or copy submitted. Thus, some thesis and dissertation copies are in typewriter face, while others may be from any type of computer printer.The quality of this reproduction is dependent upon the quality of the copy submitted. Broken or indistinct print, colored or poor quality illustrations and photographs, print bleedthrough, substandard margins, and improper aligimient can adversely aflEect reproduction.In the unlikely event that the author did not send UMI a complete manuscript and there are missing pages, these will be noted. Also, if unauthorized copyright material had to be removed, a note will indicate the deletion.

show abstract

Lateral control of autonomous vehicle by yaw rate feedback

Hong

Choi

Jeong

et al. 2002

KSME International Journal

View full text Add to dashboard Cite

In the autonomous vehicle, the reference lane is continually detected by machine VISIon system. And then the vehicle is steered to follow the reference yaw rates which are generated by the deviations oflateral distance and the yaw angle between a vehicle and the reference lane. To cope with the steering delay and the side-slip of vehicle, PI controller is introduced by yaw rate feedback and tuned from the simulation where the vehicle is modeled as 2 DOF and 79 DOF and verified by the results of an actual vehicle test. The lateral control algorithm by yaw rate feedback has good performances of lane tracking and passenger comfort.

show abstract

Controllability and Stability Aspects of Actively Controlled 4WS Vehicles

Cited by 16 publications

References 9 publications

Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles

A methodology to investigate automobile handling and stability

Lateral control of autonomous vehicle by yaw rate feedback

Contact Info

Product

Resources

About