Abstract
Four wheel steering (4WS) technology can effectively improve the vehicle handling stability and driving safety. In order to fully consider the influence of the rear wheel steering, the vehicle dynamics model of 4WS vehicle, including the rear wheel steering by wire and two degrees of freedom vehicle model of 4WS vehicle, is established in this paper. The desired yaw rate is obtained according to the variable transmission ratio strategy. The yaw rate tracking strategy is applied to 4WS vehicle and rear wheel steering resistance moment is taken into account. Based on the robust control theory, H2/H∞ mixed robust controller design is carried to research the stability control of 4WS vehicle. Finally, the closed-loop simulation added driver model based on preview theory is carried out. The simulation results indicate that the designed H2/H∞ mixed robust controller can achieve the stability control.
Article PDF
Similar content being viewed by others
Avoid common mistakes on your manuscript.
References
Chen C, Shu M, Liu R. Virtual-point-based asymptotic tracking control of 4WS vehicles. Int J Control Autom Syst, 2015, 13: 371–378
Nonaka K, Oda T. Model predictive sliding mode control for four wheel steering and driving vehicles. IFAC Proc Volume, 2013, 46: 794–799
von Vietinghoff A, Kiencke U. Gain scheduling control for combined four wheel steering and individual wheel braking. IFAC Proc Volume, 2007, 40: 327–333
Li M, Jia Y, Du J. LPV control with decoupling performance of 4WS vehicles under velocity-varying motion. IEEE Trans Contr Syst Technol, 2014, 22: 1708–1724
Li M, Jia Y. Decoupling control in velocity-varying four-wheel steering vehicles with H ∞ performance by longitudinal velocity and yaw rate feedback. Vehicle Syst Dyn, 2014, 52: 1563–1583
Yin G D, Chen N, Wang J X, et al. Robust control for 4WS vehicles considering a varying tire-road friction coefficient. Int J Automot Technol, 2010, 11: 33–40
Song Z J. The analysis of transient stability for four wheel steering automobile with proportional control. Appl Mech Mater, 2011, 141: 534–538
Russell H E B, Gerdes J C. Design of variable vehicle handling characteristics using four-wheel steer-by-wire. IEEE Trans Contr Syst Technol, 2016, 24: 1529–1540
Mashadi B, Ahmadizadeh P, Majidi M, et al. Integrated robust controller for vehicle path following. Multibody Syst Dyn, 2015, 33: 207–228
Marzbani H, Salahuddin M H A, Simic M, et al. Four wheel steering advantageous for the autodriver algorithm. In: Neves-Silva R, Tshirintzis G A, Uskov V, et al, Eds. Proceedings of Smart Digital Futures 2014. Amsterdam: IOS Press, 2014. 505–512
Huang D W, Wang H L, Zhu Z W, et al. Stochastic stability of fourwheel- steering system. Chaos Soliton Fract, 2007, 33: 823–828
Zhao W Z, Li Y J, Wang C Y. Robust control of hand wheel torque for active front steering system. Sci China Tech Sci, 2015, 58: 107–116
Schramm D, Hiller M, Bardini R. Vehicle Dynamics: Modeling and Simulation. Heidelberg: Springer Publishing Company, 2014. 143–183
Zhao W Z, Wang C Y. Mixed H2/H∞ road feel control of EPS based on genetic algorithm. Sci China Tech Sci, 2012, 55: 72–80
Zhang H, Zhao W Z. Stability control strategy of steer-by-wire system based on LQG/LTR. Sci China Tech Sci, 2017, 19
Huang D W, Wang H L, Guo Y F. Dynamical behaviors of a four-wheel-steering system under the sense of mean value. Appl Mech Mater, 2013, 419: 244–249
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Zhao, W., Qin, X. Study on mixed H2/H∞ robust control strategy of four wheel steering system. Sci. China Technol. Sci. 60, 1831–1840 (2017). https://doi.org/10.1007/s11431-017-9053-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11431-017-9053-7