Research on Vehicle Four-Wheel Steering Based on Model-Free Adaptive Control

In order to improve the handling stability of four-wheel steering (4WS) cars, a two-degree-of-freedom 4WS vehicle dynamics model is constructed here, and the motion differential equation of the system model is established. Based on the quadratic optimal control theory, the optimal control of 4WS system is proposed in this paper. When running at low speed and high speed, through yaw rate feedback control, state feedback control, and optimal control, the 4WS cars are controlled based on yaw rate and centroid cornering angle with MATLAB/Simulink simulation. The result indicates that 4WS control based on the optimal control can improve the displacement of the cars. And, the optimal control of 4WS proposed in this paper can eliminate centroid cornering angle completely compared with other two traditional optimal control methods. Besides, the optimal control enjoys faster response speed and no overshoot happens. In conclusion, the optimal control method proposed in the paper represents better stability, moving track and stability, thereby further enhancing the handling property of cars.

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“…the correlations in formulas ( 10) and ( 11) are calculated by formulas (12)(13)(14)(15)(16)(17)(18), respectively…”

Section: System Modelingmentioning

confidence: 99%

“…The directional rear wheel steering ratio four wheels steering system was proposed by Sano et al Use formula (8) to define the front and rear wheels steering ratio i 12 …”

Section: Analysis Of Mathematical Model Of 4ws Systemmentioning

confidence: 99%

Research on automobile four-wheel steering control system based on yaw angular velocity and centroid cornering angle

Zhang

Wang

et al. 2021

Measurement and Control

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“…Jiang et al developed a model-independent adaptive control algorithm that uses front-and-rear-wheel drive control distribution strategies for autonomous vehicles [14]. Wang et al developed a model-independent four-wheel steering control algorithm for a four-wheel independent steering vehicle to ensure the steering stability based on the input and output data of the vehicle without using a mathematical model [15]. In addition, Fliess and Join proposed a control methodology to minimize the parameter adjustment process without using a mathematical model with a model-independent intelligent PID control algorithm [16].…”

Section: Introductionmentioning

confidence: 99%

Development of a Universal Adaptive Control Algorithm for an Unknown MIMO System Using Recursive Least Squares and Parameter Self-Tuning

La,

2024

Actuators

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This study proposes a universal adaptive control algorithm for an unknown multi-input multi-output (MIMO) system using recursive least squares (RLS) and parameter self-tuning. The issue of adjusting the control and system parameters in response to changes in the platform was discussed. The development of a control algorithm that can consistently achieve reliable and robust control performance in various systems is important. This study aimed to develop a control algorithm that can track the reference value for any unknown MIMO system. For the controller design, an nth-order differential error dynamic model was designed, and an RLS with a scale factor was used to estimate the coefficients of the error dynamics. In the current scenario, the numbers of control inputs and error states in the error dynamics were assumed to be equal. It was designed such that the control input is derived based on the Lyapunov stability concept using the estimated coefficients. The scale factor in the RLS and injection term in the control input based on the sliding-mode approach were computed using a self-tuning methodology. The performance of the proposed universal adaptive control algorithm was evaluated using an actual DC motor and CarMaker (version 8.1.1) software tests under various scenarios.

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“…With the rapid development of the automobile industry, automobile practitioners have proposed several new types of steering systems, which improve the flexibility of vehicles. Relevant documents introduced a new type of electric vehicle steering system, including four-wheel steering system [1][2][3][4], in-wheel motor drive system [5], control of steering system [6][7][8][9][10], kinematics model, and calculation of four-wheel steering [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Optimal Design of the Six-Wheel Steering System with Multiple Steering Modes

Bu¹,

Li²,

Huang

et al. 2021

Mathematical Problems in Engineering

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Vehicles will face different working conditions during the use, and different working conditions have different requirements for vehicle functions, which results in many subdivided models. An off-road vehicle is a subdivision model produced to adapt to complex road conditions. In order to adapt to complex road conditions, vehicles should have a good passing ability, small size, and good flexibility. The six-wheeled vehicle has both good passing ability and small volume, which is the best choice for off-road vehicles. The design of the steering system becomes the key step to improve the flexibility of the six-wheeled vehicle. This paper mainly designs an independent steering system for a six-wheel electric vehicle with higher flexibility. The system is designed for six-wheel electric vehicles driven by six in-wheel motors. It mainly includes mechanical steering system and electronic control steering system. Both mechanical steering systems and electronic control steering system have multiple steering modes. Firstly, this paper introduces the various steering modes of the mechanical steering system and the electronic control steering system. Secondly, a CAD model is established by using the software Solidworks, and the system structure is introduced in detail combined with the CAD model. Finally, a kinematics model is established and calculated. The calculation results showed that the steering system can significantly improve the flexibility of the vehicle, so that the vehicle can complete the steering stably and quickly on complex road sections.

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Research on Vehicle Four-Wheel Steering Based on Model-Free Adaptive Control

Cited by 9 publications

References 2 publications

Research on automobile four-wheel steering control system based on yaw angular velocity and centroid cornering angle

Research on automobile four-wheel steering control system based on yaw angular velocity and centroid cornering angle

Development of a Universal Adaptive Control Algorithm for an Unknown MIMO System Using Recursive Least Squares and Parameter Self-Tuning

Optimal Design of the Six-Wheel Steering System with Multiple Steering Modes

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