Adaptive Control of 4WS System by Using Neural Network.

Abstract

It is expected that four-wheel-steering (4WS) vehicles will enable higher performance than the conventional front-wheel-steering vehicles. Many kinds of 4WS systems have been proposed and studied. Most of them deal with tire characteristics as linear. However, a cornering force many be nonlinear depending on road conditions or vehicle state. In this paper, an adative control of a 4WS system taking into consideration the nonlinear characteristics of cornering force is developed based on the model following the control method and the neural network theory. The computational analysis demonstrated the effectiveness of using this type of control.