Non-linear control of 4-wheel steering cars with actuator constraints

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Non-linear control of 4-wheel steering cars with actuator constraints

Vilaplana, Miguel / Mason, Oliver / Leith, Douglas / Leithead, William / Kalkkuhl, Jens

This paper presents a new non-linear steering controller for cars equipped with 4-wheel steer-by-wire that tracks reference sideslip and yaw rate signals describing the desired lateral dynamics. The proposed controller automatically rejects any disturbances in sideslip and yaw-rate, and incorporates an anti-windup scheme to reduce the effects of the saturation of the rear steering actuators. The control design is based on the Individual Channel Analysis and Design (ICAD) methodology. An analysis of the robust stability of the control system is presented. Results from a detailed non-linear simulation model are given to illustrate the controller's performance. This paper has presented a steering controller whose structure is based on the basic physics of 4-wheel steering. The controller incorporates an anti-windup scheme to mitigate the effects of the possible saturation of the rear steering actuators. The robust stability of the resulting non-linear control system has been demonstrated using tools from non-linear systems analysis and its robustness has been illustrated through simulation. Future work will include a detailed robustness and integrity analysis together with validation experiments on a car equipped with 4-wheel steer-by-wire.