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Hierarchical Control of Nonlinear Active Four-Wheel-Steering Vehicles

Author

Listed:
  • Jie Tian

    (College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China)

  • Jie Ding

    (College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China)

  • Yongpeng Tai

    (College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China)

  • Ning Chen

    (College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China)

Abstract

A new type of hierarchical control is proposed for a four-wheel-steering (4WS) vehicle, in which both the sideslip angle and yaw rate feedback are used, and the saturation of the control variables (i.e., the front and rear steering angles) is considered. The nonlinear three degrees of freedom (3DOF) 4WS vehicle model is employed to describe the uncertainties originating from the operating situations. Further, a normal front-wheel-steering (2WS) vehicle with a drop filter of the sideslip angle is selected as the reference model. The inputs for the rear and front steering angles of the linear 2DOF 4WS, required to achieve the performances described by the reference model, are obtained and controlled by the upper controller. Further, the lower controller is designed to eliminate the state error between the linear 2DOF and nonlinear 3DOF 4WS vehicle models. The simulation results of several vehicle models with/without the controller are presented, and the robustness of the hierarchical control system is analyzed. The simulation results indicate that using the proposed hierarchical controller yields the same performance between the nonlinear 4WS vehicle and the reference model, in addition to exhibiting good robustness.

Suggested Citation

  • Jie Tian & Jie Ding & Yongpeng Tai & Ning Chen, 2018. "Hierarchical Control of Nonlinear Active Four-Wheel-Steering Vehicles," Energies, MDPI, vol. 11(11), pages 1-14, October.
    • Handle: RePEc:gam:jeners:v:11:y:2018:i:11:p:2930-:d:178635
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    References listed on IDEAS

    as
    1. Chuanyang Sun & Xin Zhang & Lihe Xi & Ying Tian, 2018. "Design of a Path-Tracking Steering Controller for Autonomous Vehicles," Energies, MDPI, vol. 11(6), pages 1-17, June.
    2. Huang, Dong-Wei & Wang, Hong-Li & Zhu, Zhi-Wen & Feng-Zhang,, 2007. "Stochastic stability of four-wheel-steering system," Chaos, Solitons & Fractals, Elsevier, vol. 33(3), pages 823-828.
    3. Mingxing Li & Yingmin Jia, 2016. "Precompensation decoupling control with performance for 4WS velocity-varying vehicles," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(16), pages 3864-3875, December.
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    Cited by:

    1. Zepeng Gao & Jianbo Feng & Chao Wang & Yu Cao & Bonan Qin & Tao Zhang & Senqi Tan & Riya Zeng & Hongbin Ren & Tongxin Ma & Youshan Hou & Jie Xiao, 2022. "Research on Vehicle Active Steering Stability Control Based on Variable Time Domain Input and State Information Prediction," Sustainability, MDPI, vol. 15(1), pages 1-18, December.

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