Design of an active 4ws system with physical uncertainties

L. Gianone, L. Palkovics, J. Bokor

Research output: Contribution to journalArticle

17 Citations (Scopus)

Abstract

In this paper a new approach to the design of an active four-wheel-steered (4WS) control system is introduced. The problems of the conventionally used LQ-controller-based virtual model following control strategies are analyzed, and several problems are addressed. Two main problems of the LQ controller are highlighted: the external disturbance rejection, and the robustness of the controlled system in the face of parametric uncertainties. In the paper a combined Robust Linear Quadratic Regulator (RLQR) and H controller design is presented for an active WS vehicle. The applicability of this kind of controllers is proven in this particular design case.

Original languageEnglish
Pages (from-to)1075-1083
Number of pages9
JournalControl Engineering Practice
Volume3
Issue number8
DOIs
Publication statusPublished - Aug 1995

Keywords

  • active steering
  • disturbance rejection
  • minimax technique
  • parametric uncertainty modeling
  • robust LQ control
  • vehicles
  • virtual model following control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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