Control Strategy for Four-Wheel Steering Vehicle Handling Stability Based on Partial Decoupling Design

Abstract

In order to obtain a new steering control structure for vehicles equipped with four-wheel steering system, a linear model of the lateral dynamics is used in this paper. By introducing vehicle sideslip control and yaw rate control decoupling, a more accurate sideslip and yaw rate controller is used for lateral dynamics model of four-wheel steering vehicle, the sideslip and yaw rate controller is based on a linear multivariable combined with lateral dynamics model and the front and rear steering angles. For illustration, a simulation example is utilized to show the robustness of the new designed controller. Empirical results show that the controller based on partial decoupling design has good robustness. The four-wheel steering system with good handling robustness stability can effectively restrain exoteric lateral interference and thus active rolling handling control and tracking performance are solved.