Robust control for 4WS vehicles considering a varying tire-road friction coefficient

A µ-synthesis for four-wheel steering (4WS) problems is proposed. Applying this method, model uncertainties can be taken into consideration, and a µ-synthesis robust controller is designed with optimized weighting functions to attenuate the external disturbances. In addition, an optimal controller is designed using the well-known optimal control theory. Two different versions of control laws are considered here. In evaluations of vehicle performance with the robust controller, the proposed controller performs adequately with different maneuvers (i.e., J-turn and Fishhook) and on different road conditions (i.e., icy, wet, and dry). The numerical simulation shows that the designed µ-synthesis robust controller can improve the performance of a closed-loop 4WS vehicle, and this controller has good maneuverability, sufficiently robust stability, and good performance robustness against serious disturbances.