Active Four-Wheel Steering System for Zero Sideslip Angle and Lateral Acceleration Control

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This paper proposes an active four-wheel steering system. It has three additional points to an active front steering system proposed by authors: 1) active rear steering to realize zero sideslip angle, 2) variable steering ratio to prevent abrupt involution at slowdown, and 3) model following sliding mode controller to become robust against the system uncertainty. Computer simulations demonstrate good maneuverability of the proposed system.