Robustness to Speed of 4WS Vehicles for Yaw and Lateral Dynamics |
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Authors: | Oded Yaniv |
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Institution: |
a Faculty of Engineering, Department of Electrical Engineering-Systems, Tel Aviv University, aviv, Israel |
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Abstract: | This paper addresses the issue of robustness and closed loop performance of four wheel steering (4WS) vehicles for yaw and lateral maneuvers for fixed and non-fixed speeds. A feedback structure derived from the plant inverse dynamic, such that the vehicle 2×2 matrix transfer function is robust to speed, is proposed. The efficiency of the proposed structure depends on the actuator's bandwidth and non-linearities, and on the sensor delay. A design example which shows how to implement the proposed algorithm in highly uncertain vehicles, subject to actuator bandwidth limitations and sensor delay, is provided. |
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