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Hierarchical Control of Nonlinear Active Four-Wheel-Steering Vehicles

Jie Tian, Jie Ding, Yongpeng Tai and Ning Chen
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Jie Tian: College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China
Jie Ding: College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China
Yongpeng Tai: College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China
Ning Chen: College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China

Energies, 2018, vol. 11, issue 11, 1-14

Abstract: A new type of hierarchical control is proposed for a four-wheel-steering (4WS) vehicle, in which both the sideslip angle and yaw rate feedback are used, and the saturation of the control variables (i.e., the front and rear steering angles) is considered. The nonlinear three degrees of freedom (3DOF) 4WS vehicle model is employed to describe the uncertainties originating from the operating situations. Further, a normal front-wheel-steering (2WS) vehicle with a drop filter of the sideslip angle is selected as the reference model. The inputs for the rear and front steering angles of the linear 2DOF 4WS, required to achieve the performances described by the reference model, are obtained and controlled by the upper controller. Further, the lower controller is designed to eliminate the state error between the linear 2DOF and nonlinear 3DOF 4WS vehicle models. The simulation results of several vehicle models with/without the controller are presented, and the robustness of the hierarchical control system is analyzed. The simulation results indicate that using the proposed hierarchical controller yields the same performance between the nonlinear 4WS vehicle and the reference model, in addition to exhibiting good robustness.

Keywords: active 4WS system; hierarchical control; decoupling; fractional sliding mode control (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2018
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Citations: View citations in EconPapers (1)

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