Dynamics Simulation on Control Technology for 4WS Vehicle Steering Performance

Abstract

By combining visual preview kinematics, dynamic equation of steering system and 2-DOF steering dynamistic model of 4WS, we establish the two degree of freedom model of four-wheel steering vehicle. And then the switching hyper plane is designed by applying the optimal control theory. During the change of parameter is little, 4WS steering performance is carried out by adopting sliding variable structure controller. To improve the steering performance of 4WS, especially state variables convergent velocity, Kalman filter for 4WS is designed. And the robust optimal controller is designed for model and parameter is uncertainty. The simulation results show that the controller designed by the proposed method has good robustness; it can easily attenuate the change and uncertainty of model.