A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Volume 5 Issue 6
Nov.  2018

IEEE/CAA Journal of Automatica Sinica

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Shuyou Yu, Jing Wang, Yan Wang and Hong Chen, "Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference," IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1121-1127, Nov. 2018. doi: 10.1109/JAS.2016.7510220
Citation: Shuyou Yu, Jing Wang, Yan Wang and Hong Chen, "Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference," IEEE/CAA J. Autom. Sinica, vol. 5, no. 6, pp. 1121-1127, Nov. 2018. doi: 10.1109/JAS.2016.7510220

Disturbance Observer Based Control for Four Wheel Steering Vehicles With Model Reference

doi: 10.1109/JAS.2016.7510220

the National Natural Science Foundation of China 61573165

the National Natural Science Foundation of China 61520106008

the National Natural Science Foundation of China 61703178

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  • This paper presents a disturbance observer based control strategy for four wheel steering systems in order to improve vehicle handling stability. By combination of feedforward control and feedback control, the front and rear wheel steering angles are controlled simultaneously to follow both the desired sideslip angle and the yaw rate of the reference vehicle model. A nonlinear three degree-of-freedom four wheel steering vehicle model containing lateral, yaw and roll motions is built up, which also takes the dynamic effects of crosswind into consideration. The disturbance observer based control method is provided to cope with ignored nonlinear dynamics and to handle exogenous disturbances. Finally, a simulation experiment is carried out, which shows that the proposed four wheel steering vehicle can guarantee handling stability and present strong robustness against external disturbances.


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