Abstract
The main attention of this paper is to tackle the issue of robust tracking and disturbance estimation for the four wheel steering vehicle by implementing a feedback control design based on the improved-equivalent-input-disturbance technique and the Smith predictor approach. The intention of incorporating the Smith predictor into the controller design is to compensate the effect of input time-delay. In addition, the improved-equivalent-input-disturbance technique is applied for dealing with the nonlinear uncertainty and external disturbances. Based on the proposed controller, both front and rear steering angles of the considered model are controlled to trace the desired position of the vehicle. More precisely, the developed criterion that ensures the desired tracking performance of the vehicle is obtained in the form of linear-matrix-inequalities based on the construction of an appropriate Lyapunov-Krasovskii functional candidate. Numerical simulation results for vehicle dynamics are presented to examine the performance of the proposed control strategy.
Highlights
In recent years, there has been a significant growth in the development of various control technologies for four wheel steering vehicle model due to its widespread applications in automobile industries [1]–[3]
Based on lateral dynamics and yaw dynamics of vehicle, a two degree-of-freedom (2-DOF) bicycle model is constructed, where the dynamic influence of crosswind has been considered as exogenous disturbance due to practical situations [9]
MAIN RESULTS based on the IEID estimator and the Smith predictor approach, a feedback control design is developed for the considered vehicle model to improve the vehicle stability performance
Summary
There has been a significant growth in the development of various control technologies for four wheel steering vehicle model due to its widespread applications in automobile industries [1]–[3]. The exogenous disturbances are unavoidable, which results that an oversteering or under-steering situations can happen If such kind of critical problem occurs, the drivers might not be able to control and return the vehicle to the safety state, which can lead to dreadful accidents. No work has been reported on the issue of effective disturbance rejection and tracking control problem for vehicle systems based the IEID and Smith predictor-based approach, which motivates this study. The proposed control technique reduces the disturbance effect and controls both front and rear steering angles of the vehicle dynamics so that the side slip angle and the yaw rate of the vehicle can follow the desired reference model. (iv) The derived main results are authenticated through numerical simulations in which the efficiency of the proposed control design is clearly exhibited
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