Steering control for lateral guidance of an all wheel steered vehicle

This paper presents the design of low-order controller for lateral guidance of an all wheel steered, single articulated vehicle. The vehicle has independent drives on each wheel except for the front axle. The design of controller is based on a three input-three output linearised model which is deriv...

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Bibliographic Details
Published in2008 International Conference on Control, Automation and Systems : 14-17 October 2008 pp. 24 - 28
Main Authors Young-Chol Kim, Kyung-Deuk Min, Kyoung-Han Yun, Yun-Seob Byun, Jai-Kyun Mok
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2008
Subjects
All Wheel Steered Vehicle
Automatic control
Automatic Guidance Control
Control systems
Displacement control
Displacement measurement
Lateral Dynamic Model
Navigation
Rail transportation
Rubber products
Rubber Tired Tram
Vehicle driving
Vehicle dynamics
Wheels
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Summary:This paper presents the design of low-order controller for lateral guidance of an all wheel steered, single articulated vehicle. The vehicle has independent drives on each wheel except for the front axle. The design of controller is based on a three input-three output linearised model which is derived from the nonlinear vehicle dynamic model. For the purpose of making the controller be simple and tunable, a low-order control configuration associated with a decoupling compensator is considered and has been designed by using the methods in [4,5] so as to meet several performance requirements, subject to different reference paths and vehicle speeds. It is shown by simulation results that the resulting linear controller applied to the nonlinear dynamic model achieves the design objectives successfully.
ISBN:8995003898
9788995003893
DOI:10.1109/ICCAS.2008.4694523