A Study on μ-Synthesis Control for Four-Wheel Steering System to Enhance Vehicle Lateral Stability-Reference-Cited by-同舟云学术

A Study on μ-Synthesis Control for Four-Wheel Steering System to Enhance Vehicle Lateral Stability

Published:2010-11-23 Issue:1 Volume:133 Page:
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Yin Guo-Dong¹,Chen Nan¹,Wang Jin-Xiang¹,Wu Ling-Yao²

Affiliation:

1. School of Mechanical Engineering, Southeast University, Nanjing 210096, P.R. China

2. School of Automation, Southeast University, Nanjing 210096, P.R. China

Abstract

This paper presents the design of μ-synthesis control for four-wheel steering (4WS) vehicle and an experimental study using a hardware-in-the-loop (Hil) setup. First, the robust controller is designed and the selection of weighting functions is discussed in the framework of μ-synthesis control scheme, considering the varying parameters induced by running vehicle condition. Second, in order to investigate the feasibility of the four-wheel steering control system, the 4WS vehicle control system is built using dSPACE DS1005 platform. The experimental tests are performed using the Hil setup which has been constructed using the devised rear steering actuating system. The dynamics performance is evaluated by experiment using the Hil setup under the condition of parameter variations. Finally, experimental results show that the μ-synthesis controller can enhance good vehicle lateral maneuverability.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/doi/10.1115/1.4002707/5486679/011002_1.pdf

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