Skip to main content

Advertisement

Springer Nature Link
Log in

Parameter optimization for decoupling controllers of 4WS vehicles

  • Original Article
  • Published:
Artificial Life and Robotics Aims and scope Submit manuscript

Abstract

In this paper, performance analysis of physical models and parameter optimization of two typical decoupling controllers are considered. Firstly, new relationship between velocity and acceleration for the nonlinear performance is established. Then, for the decoupled quasi-linearized system, the parameter region is optimized, in which the damping is bigger than one and eigenvalues are smaller than any negative number. For the decoupled linearized system, the necessary and sufficient conditions, that overshoot and irritating are avoided and measurement-error disturbance is attenuated to under any positive number, are deduced. Simulations show that safety and comfort are improved obviously.

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

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

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

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

Explore related subjects

Discover the latest articles and news from researchers in related subjects, suggested using machine learning.

References

  1. Jia YM (2000) Robust control with decoupling performance for steering and traction of 4WS vehicles under velocity-varying motion. IEEE Trans Control Syst Technol 8(3):554–569

    Article  Google Scholar 

  2. Marino R, Scalzi S (2010) Asymptotic sideslip angle and yaw rate decoupling control in four-steering vehicles. Vehicle Syst Dynamics 48(9):999–1019

    Article  Google Scholar 

  3. Marino R, Cinili F (2009) Input-output decoupling control by measurement feedback in four-wheel-steering vehicles. IEEE Trans Control Syst Technol 17(5):1163–1172

    Article  Google Scholar 

  4. Skarpetis MG, Koumboulis FN, Barmpokas FS, Chamilothoris GE (2006) Decoupling control algorithms for 4WS vehicles. In: IEEE 3rd International Conference on Mechatronics, Budapest, pp 499–504

  5. Ackermann J, Bünte T (1997) Yaw disturbance attenuation by robust decoupling of car steering. Control Eng Practice 5(8):1131–1136

    Article  Google Scholar 

  6. Ackermann J (1994) Robust decoupling of car steering dynamics with arbitrary mass distribution. In: American Control Conference, Baltimore, vol 2, pp 1964–1968

  7. Ackermann J, Sienel WF (1993) Robust yaw damping of cars with front and rear wheel steering. IEEE Trans Control Syst Technol 1(1):15–20

    Article  Google Scholar 

  8. Shen SW, Wang J, Shi P, Premier GL (2007) Nonlinear dynamics and stability analysis of vehicle plane motions. Vehicle Syst Dynamics 45(1):15–35

    Article  Google Scholar 

  9. Reza NJ (2007) Vehicle dynamics: theory and applications. Springer, Berlin

  10. Catino B, Santini S, Bernardo M (2003) MCS adaptive control of vehicle dynamics: an application of bifurcation techniques to control system design. In: 42nd Conference on Decision and Control, pp 2252–2257

  11. Ono E, Hosoe S, Tuan HD, Doi S (1998) Bifurcation in vehicle dynamics and robust front wheel steering control. IEEE Trans Control Syst Technol 6(3):412–420

    Article  Google Scholar 

  12. Chen CF, Jia YM (2012) Nonlinear decoupling control of four-wheel-steering vehicles with an observer. Int J Control Automat Syst, 48:697–702

    Google Scholar 

  13. Chen CF, Jia YM (2012) Nonlinear decoupling control of vehicle plane motion, IET, Acceptted

  14. True H (1999) On the theory of nonlinear dynamics and its application in vehicle system dynamics. Vehicle Syst Dynamics 31(1):393–421

    Article  Google Scholar 

  15. Irving RS (2004) Integers, polynomials, and rings: a course in algebra. Springer, Berlin

Download references

Acknowledgments

This work was supported by the National Basic Research Program of China (973 Program, 2012CB821200, 2012CB8 21201) and the NSFC (61134005, 60921001, 90916024, 911 16016).

Author information

Authors and Affiliations

  1. The Seventh Research Division and the Department of Systems and Control, Beihang University (BUAA), Beijing, 100191, China

    Mingxing Li, Haijing Xu & Yingmin Jia

Authors
  1. Mingxing Li
    View author publications

    You can also search for this author inPubMed Google Scholar

  2. Haijing Xu
    View author publications

    You can also search for this author inPubMed Google Scholar

  3. Yingmin Jia
    View author publications

    You can also search for this author inPubMed Google Scholar

Corresponding author

Correspondence to Yingmin Jia.

Additional information

This work was presented in part at the 18th International Symposium on Artificial Life and Robotics, Daejeon, Korea, Jan. 30-Feb.1, 2013.

About this article

Cite this article

Li, M., Xu, H. & Jia, Y. Parameter optimization for decoupling controllers of 4WS vehicles. Artif Life Robotics 18, 64–69 (2013). https://doi.org/10.1007/s10015-013-0100-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10015-013-0100-6

Keywords