A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 5 Issue 6
Nov.  2018

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 6.171, Top 11% (SCI Q1)
    CiteScore: 11.2, Top 5% (Q1)
    Google Scholar h5-index: 51, TOP 8
Turn off MathJax
Article Contents
Shuyou Yu, Jing Wang, Yan Wang and Hong Chen, "Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference," IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1121-1127, Nov. 2018. doi: 10.1109/JAS.2016.7510220
Citation: Shuyou Yu, Jing Wang, Yan Wang and Hong Chen, "Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference," IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1121-1127, Nov. 2018. doi: 10.1109/JAS.2016.7510220

Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference

doi: 10.1109/JAS.2016.7510220
Funds:

the National Natural Science Foundation of China 61573165

the National Natural Science Foundation of China 61520106008

the National Natural Science Foundation of China 61703178

More Information
  • This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model. A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration. The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out, which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.

     

  • loading
  • [1]
    Y. Furukawa, N. Yuhara, S. Sano, H. Takeda, and Y. Matsushita, "A review of four-wheel steering studies from the viewpoint of vehicle dynamics and control, " Vehicle Syst. Dyn., vol. 18, no. 1-3, pp. 151-186, 1989. doi: 10.1080/00423118908968917
    [2]
    G. D. Yin, N. Chen, and P. Li, "Improving handling stability performance of four-wheel steering vehicle via μ-synthesis robust control, " IEEE Trans. Vehic. Technol., vol. 56, no. 5, pp. 2432-2439, Sep. 2007. http://ieeexplore.ieee.org/document/4305552/
    [3]
    J. Ackermann and W. Sienel, "Robust yaw damping of cars with front and rear wheel steering, " IEEE Trans. Control Syst. Technol., vol. 1, no. 1, pp. Article No. 4421524, Mar. 1993. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=221348
    [4]
    S. Sano, Y. Furukawa, and S. Shiraishi, "Four wheel steering system with rear wheel steer angle controlled as a function of steering wheel angle, " SAE Technical Paper 860625, 1986. https://www.mendeley.com/research-papers/four-wheel-steering-system-rear-wheel-steer-angle-controlled-function-steering-wheel-angle/
    [5]
    S. S. You and Y. H. Chai, "Multi-objective control synthesis: an application to 4WS passenger vehicles, " Mechatronics, vol. 9. no, 4, pp. 363-390, Jun. 1999. http://www.sciencedirect.com/science/article/pii/S0957415898000567
    [6]
    A. Alfi and M. Farrokhi, "Hybrid state-feedback sliding-mode controller using fuzzy logic for four-wheel-steering vehicles, " Vehicle Syst. Dyn., vol. 47, no. 3, pp. 265-284, 2009. doi: 10.1080/00423110801995727
    [7]
    H. M. Lv, N. Chen, and P. Li, "Multi-objective H optimal control for four-wheel steering vehicle based on yaw rate tracking, " Proc. Inst. Mechan. Eng., vol. 218, no. 10, pp. 1117-1123, 2004. doi: 10.1177/095440700421801006
    [8]
    G. D. Yin, N. Chen, J. X. Wang, and L. Y. Wu, "A study on μ-Synthesis control for four-wheel steering system to enhance vehicle lateral stability, " J. Dyn. Syst. Meas. Control, vol. 133, no. 1, pp. Article No. 011002, Nov. 2011. doi: 10.1115/1.4002707
    [9]
    C. F. Chen and Y. M. Jia, "Nonlinear decoupling control of four-wheel-steering vehicles with an observer, " Int. J. Control Autom. Syst., vol. 10, no. 4, pp. 697-702, Aug. 2012. doi: 10.1007/s12555-012-0404-7
    [10]
    F. N. Koumboulis and M. G. Skarpetis, "Robust control of cars with front and rear wheel steering, " IEE Proc. Control Theory Appl., vol. 149, no. 5, pp. 394-404, Sep. 2002. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1048967
    [11]
    B. T. Fijalkowski, "Steer-by-wire (SBW) four-wheel steering (4WS) conversion mechatronic control systems, " in Automotive Mechatronics: Operational and Practical Issues, Netherlands: Springer, 2011. doi: 10.1007%2F978-94-007-1183-9_4
    [12]
    J. Wang, S. Y. Yu, and H. Chen, "Model following control of active 4WS vehicle based on constrained output feedback H control, " Information and Control, vol. 45, no. 1, pp. 53-59, 2015. http://ic.sia.cn/EN/Y2016/V45/I1/53
    [13]
    H. Zhang, "The research on stability control of high speed vehicle under crosswind based on active 4WS system, " M. S. thesis, Zhengjia Univ., Hangzhou, China, 2014.
    [14]
    H. B. Pacejka and E. Bakker, "The magic formula tyre model, " Vehicle Syst. Dyn., vol. 21, no. s1, pp. 1-18, 1992. doi: 10.1080/00423119208969994
    [15]
    M. Nagai, Y. Hirano, and S. Yamanaka, "Integrated control of active rear wheel steering and direct yaw moment control, " Vehicle Syst. Dyn., vol. 27, no. 5-6, pp. 357-370, 1997. doi: 10.1080/00423119708969336
    [16]
    W. H. Chen, "Disturbance observer based control for nonlinear systems, " IEEE/ASME Trans. Mechatron., vol. 9, no. 4, pp. 706-710, Dec. 2004. http://ieeexplore.ieee.org/document/1372532/citations
    [17]
    J. Yang, A. Zolotas, W. H. Chen, K. Michail, and S. H. Li, "Robust control of nonlinear MAGLEV suspension system with mismatched uncertainties via DOBC approach, " ISA Trans., vol. 50, no. 3, pp. 389-396, Jul. 2011. http://www.sciencedirect.com/science/article/pii/S0019057811000073

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(7)  / Tables(1)

    Article Metrics

    Article views (1170) PDF downloads(50) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return