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Parameter optimization for decoupling controllers of 4WS vehicles

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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.

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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).

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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

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  1. Mingxing Li
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  2. Haijing Xu
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  3. Yingmin Jia
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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.

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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

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

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