Skip to main content
SpringerLink
Log in

Study on mixed H2/H∞ robust control strategy of four wheel steering system

  • Article
  • Published:
Science China Technological Sciences Aims and scope Submit manuscript

Abstract

Four wheel steering (4WS) technology can effectively improve the vehicle handling stability and driving safety. In order to fully consider the influence of the rear wheel steering, the vehicle dynamics model of 4WS vehicle, including the rear wheel steering by wire and two degrees of freedom vehicle model of 4WS vehicle, is established in this paper. The desired yaw rate is obtained according to the variable transmission ratio strategy. The yaw rate tracking strategy is applied to 4WS vehicle and rear wheel steering resistance moment is taken into account. Based on the robust control theory, H2/H∞ mixed robust controller design is carried to research the stability control of 4WS vehicle. Finally, the closed-loop simulation added driver model based on preview theory is carried out. The simulation results indicate that the designed H2/H∞ mixed robust controller can achieve the stability control.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Chen C, Shu M, Liu R. Virtual-point-based asymptotic tracking control of 4WS vehicles. Int J Control Autom Syst, 2015, 13: 371–378

    Article  Google Scholar 

  2. Nonaka K, Oda T. Model predictive sliding mode control for four wheel steering and driving vehicles. IFAC Proc Volume, 2013, 46: 794–799

    Article  Google Scholar 

  3. von Vietinghoff A, Kiencke U. Gain scheduling control for combined four wheel steering and individual wheel braking. IFAC Proc Volume, 2007, 40: 327–333

    Article  Google Scholar 

  4. Li M, Jia Y, Du J. LPV control with decoupling performance of 4WS vehicles under velocity-varying motion. IEEE Trans Contr Syst Technol, 2014, 22: 1708–1724

    Article  Google Scholar 

  5. Li M, Jia Y. Decoupling control in velocity-varying four-wheel steering vehicles with H ∞ performance by longitudinal velocity and yaw rate feedback. Vehicle Syst Dyn, 2014, 52: 1563–1583

    Article  Google Scholar 

  6. Yin G D, Chen N, Wang J X, et al. Robust control for 4WS vehicles considering a varying tire-road friction coefficient. Int J Automot Technol, 2010, 11: 33–40

    Article  Google Scholar 

  7. Song Z J. The analysis of transient stability for four wheel steering automobile with proportional control. Appl Mech Mater, 2011, 141: 534–538

    Article  Google Scholar 

  8. Russell H E B, Gerdes J C. Design of variable vehicle handling characteristics using four-wheel steer-by-wire. IEEE Trans Contr Syst Technol, 2016, 24: 1529–1540

    Article  Google Scholar 

  9. Mashadi B, Ahmadizadeh P, Majidi M, et al. Integrated robust controller for vehicle path following. Multibody Syst Dyn, 2015, 33: 207–228

    Article  MathSciNet  Google Scholar 

  10. Marzbani H, Salahuddin M H A, Simic M, et al. Four wheel steering advantageous for the autodriver algorithm. In: Neves-Silva R, Tshirintzis G A, Uskov V, et al, Eds. Proceedings of Smart Digital Futures 2014. Amsterdam: IOS Press, 2014. 505–512

    Google Scholar 

  11. Huang D W, Wang H L, Zhu Z W, et al. Stochastic stability of fourwheel- steering system. Chaos Soliton Fract, 2007, 33: 823–828

    Article  MATH  Google Scholar 

  12. Zhao W Z, Li Y J, Wang C Y. Robust control of hand wheel torque for active front steering system. Sci China Tech Sci, 2015, 58: 107–116

    Article  Google Scholar 

  13. Schramm D, Hiller M, Bardini R. Vehicle Dynamics: Modeling and Simulation. Heidelberg: Springer Publishing Company, 2014. 143–183

    MATH  Google Scholar 

  14. Zhao W Z, Wang C Y. Mixed H2/H∞ road feel control of EPS based on genetic algorithm. Sci China Tech Sci, 2012, 55: 72–80

    Article  Google Scholar 

  15. Zhang H, Zhao W Z. Stability control strategy of steer-by-wire system based on LQG/LTR. Sci China Tech Sci, 2017, 19

    Google Scholar 

  16. Huang D W, Wang H L, Guo Y F. Dynamical behaviors of a four-wheel-steering system under the sense of mean value. Appl Mech Mater, 2013, 419: 244–249

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Energy & Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, 210016, China

    WanZhong Zhao & XiaoXi Qin

  2. The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China

    WanZhong Zhao

Authors
  1. WanZhong Zhao
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. XiaoXi Qin
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to WanZhong Zhao.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Zhao, W., Qin, X. Study on mixed H2/H∞ robust control strategy of four wheel steering system. Sci. China Technol. Sci. 60, 1831–1840 (2017). https://doi.org/10.1007/s11431-017-9053-7

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11431-017-9053-7

Keywords

Search

Navigation