Currently, advanced control systems implemented on production ground vehicles have the goal of promoting maneuverability and stability. With proper coordination of steering and braking action, these goals may be achieved even when road conditions are severe. This paper considers the effect of steering and wheel torques on the dynamics of vehicular systems. Through the input-output linearization technique, the advantages of four-wheel steering (4WS) system and independent torques control are clear from a mathematical point of view. A sliding mode controller is also designed to modify driver’s steering and braking commands to enhance maneuverability and safety. Simulation results show the maneuverability and safety are improved. Although the controller design is based on a four-wheel steering vehicle, the algorithm can also be applied to vehicles of different configurations with slight changes.
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December 1994
Research Papers
A Global Approach to Vehicle Control: Coordination of Four Wheel Steering and Wheel Torques
Ssu-Hsin Yu,
Ssu-Hsin Yu
Department of Mechanical Engineering, MIT, Cambridge, MA 02139
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John J. Moskwa
John J. Moskwa
Department of Mechanical Engineering, University of Wisconsin, Madison, WI 53706
Search for other works by this author on:
Ssu-Hsin Yu
Department of Mechanical Engineering, MIT, Cambridge, MA 02139
John J. Moskwa
Department of Mechanical Engineering, University of Wisconsin, Madison, WI 53706
J. Dyn. Sys., Meas., Control. Dec 1994, 116(4): 659-667 (9 pages)
Published Online: December 1, 1994
Article history
Received:
June 17, 1991
Online:
March 17, 2008
Citation
Yu, S., and Moskwa, J. J. (December 1, 1994). "A Global Approach to Vehicle Control: Coordination of Four Wheel Steering and Wheel Torques." ASME. J. Dyn. Sys., Meas., Control. December 1994; 116(4): 659–667. https://doi.org/10.1115/1.2899265
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