A19 車輪が横滑りする車両の厳密な線形化による四輪独立操舵角制御(OS8-1 メカニカルシステムのアドバンスト制御)

Abstract

For cars without side skidding in their wheels, steering control based on time-state control form and exact linearization technique can achieve globally asymptotically stable tracking. But real cars always experience side skidding; their behavior depends on their velocity, roadbed and property of wheels. For this challenge, we have proposed a modified steering controller by inverse dynamics of vehicle with side skidding. Our controller assures exponential asymptotic tracking to the desired trajectory. In this paper, our steering controller is extended to the 4WS vehicle to achieve both the tracking control and the attitude control of the vehicle. Base on this extended controller, we realize an automatic deceleration method using active toe-in angle control.