{"title":"Development of 4WS control algorithms for an SUV","authors":"Tokihiko Akita , Katsuhiko Satoh","doi":"10.1016/S0389-4304(03)00070-5","DOIUrl":null,"url":null,"abstract":"<div><p>We have developed various control algorithms to improve drivability for a 4 wheel steering vehicle, especially when towing a trailer. For improving vehicle stability at high speed, a control method that utilizes model matching method and <em>H</em><sub>∞</sub> control, was proposed, and its effectiveness was verified. For rear edge swing-out concern in out-phase rear steering mode at low speed, a control algorithm that internally calculates the front edge trajectory and steers the rear tires without swing-out from the trajectory, was designed and experimentally verified. For reverse driving when trailer towing, we proposed a control method that makes the system stable to improve drivability.</p></div>","PeriodicalId":100855,"journal":{"name":"JSAE Review","volume":"24 4","pages":"Pages 441-448"},"PeriodicalIF":0.0000,"publicationDate":"2003-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/S0389-4304(03)00070-5","citationCount":"12","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"JSAE Review","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0389430403000705","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 12
Abstract
We have developed various control algorithms to improve drivability for a 4 wheel steering vehicle, especially when towing a trailer. For improving vehicle stability at high speed, a control method that utilizes model matching method and H∞ control, was proposed, and its effectiveness was verified. For rear edge swing-out concern in out-phase rear steering mode at low speed, a control algorithm that internally calculates the front edge trajectory and steers the rear tires without swing-out from the trajectory, was designed and experimentally verified. For reverse driving when trailer towing, we proposed a control method that makes the system stable to improve drivability.
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