Feedback control of four-wheel steering using time delay control

Abstract

In this paper, a new feedback controlled four-wheel steering (4WS) is proposed using a time delay control scheme which is suitable for the control of nonlinear systems. The proposed 4WS needs to sense the yaw velocity and its time derivative to estimate the disturbance and the vehicle parameter changes in the yaw dynamics. The control scheme is based on the yaw reference model following control. The selection of the yaw reference model is discussed through the stability analysis of the linear model not to make the total system unstable. The numerical simulation is performed by DADS(R), a multibody simulation software package, with a 16 degrees of freedom full car model. The results show that the proposed 4WS has a robust yaw damping to the steering input and a robust yaw rate gain against external disturbance.