四轮转向汽车自适应模型跟踪控制研究

使用单点预瞄驾驶员模型，针对确定性汽车模型探讨了４ＷＳ汽车在单移线行驶过程中后轮的最优转向控制规律。通过引入状态反馈，改善了整车的转向特性，将实际汽车的前后轮胎侧刚度及外界干扰视为有界的不确定性参数，采用自适应模型跟踪变结构控制方法，使得不确定的实际汽车模型能够很好地跟踪确定的最优理论模型，仿真结果表明该方法的可行性，控制系统能够有效地克服参数摄动及外界干扰对系统稳定性的影响。

Adaptive Model Following Control of Four Wheel Steering Vehicle

The optimal control laws of 4WS during single lane change are studied using driver model of preview follower method based on the certain vehicle model. The actual vehicle models are considered as uncertain systems. The front and rear wheels cornering stiffness and outer disturbance vary over a limited range. The adaptive model following variable structure control method is used for controlling front and rear wheels steering of the actual vehicle, so that the steering charatceristics of uncertain vehicle model can follow the characteristics of reference model. Simulation results have demonstrated that the control system can overcome the effects of parameter perturbations and outer disturbance on system stability.