Abstract

The paper deals with the dynamics and control of road vehicles with 4-wheel steering system. The usual assumptions of single track motion and neglecting of the roll motion are considered. The following problems are analyzed: a. the vehicle steady state motions both for straight driving and turn; b. the stability of the steady state motions for constant control applied to the front axle combined with feedback stability augmentation system applied to the rear axle; here the feedback is depending on the yaw velocity; and c. the role of the adaptive stabilization in order to cope with the uncertainties introduced by the tire-rolling track contact; a simple adaptive control algorithm is suggested whose convergence was previously proved by using a suitable Liapunov function.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>

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