Abstract
A four-wheel steer-by-wire vehicle (FSV), which is a combination of a steer-by-wire (SBW) system and a four wheel steering (4WS) system, not only can improve vehicle safety and maneuverability, but also steering flexibility. Considering the parameters, uncertainties of vehicle speed, and tire cornering stiffness, weighted function is solved to express the uncertain system. Aiming at the multiple-input multiple-output (MIMO) system, the structured singular value $\mu $ is used to research FSV under multiple perturbations in this paper. Based on $\mu $ control strategy, $\mu $ controller is designed to track the desired sideslip angle and yaw rate. Thus, the vehicle gets better performance. Compared with SBW and 4WS systems, FSV has better state response under steering angle step input simulation experiment. The advantages of $\mu $ control compared with $H$ ∞ control on FSV have been explained in the simulation experiments. Furthermore, experiment results show that the designed controller can make the vehicle well track the reference model and improve the vehicle maneuverability.
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