Robust Control for Enhancing Anti-Interference Performance of Multi-Axle Vehicle

Abstract

The dynamic model of multi-axle steering vehicle undertakes improvements, by taking the anterior axles mechanical steering on vehicle steering performance into account, that is to imply the front-axle wheel angle in control variable and to gear down the difficulty on vehicle control. On the basis of the revised dynamic model, the unit vector continuous robust control method, applied to multi-axle vehicle, is used to analyze the response characteristic of yaw rate and side slip angle under low and high speed. The paper analyzes the strength of unit vector continuous robust control method in multi-axle vehicle combined with minimum and maximum robust control method.The unit vector continuous robust control method for vehicle controling, as the analytical result shows, is able to control object quickly and has the characteristic of certain interference-free feature and higher vehicular control stability; the smaller wave of controlled variable which avoided the buzz of controlled variable, the smallness of control consumed energy, the easy realize of control favor the advance of vehicle economy.