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

Shuyou Yu; Jing Wang; Yan Wang; Hong Chen

doi:10.1109/JAS.2016.7510220

Volume 5 Issue 6

Nov. 2018

IEEE/CAA Journal of Automatica Sinica

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Article Navigation > IEEE/CAA Journal of Automatica Sinica > 2018 > 5(6): 1121-1127

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

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

doi: 10.1109/JAS.2016.7510220

Shuyou Yu^{1
,
,},
Jing Wang^2
,,
Yan Wang^3
,,
Hong Chen^1
,

1.
State Key Laboratory of Automotive Simulation and Control, and with the Department of Control Science and Engineering, Jilin University, Changchun 130012, China
2.
Bosch Automotive Products(Suzhou) Co., Ltd, Suzhou 215021, China
3.
Huachen Auto Group, Shenyang 110141, China

Funds:

the National Natural Science Foundation of China 61573165

the National Natural Science Foundation of China 61520106008

the National Natural Science Foundation of China 61703178

More Information

Author Bio:
Shuyou Yu (M'12) received the B.S. and M.S. degrees in control science and engineering at Jilin University, China, in 1997 and 2005, respectively, and the Ph.D. degree in engineering cybernetics at the University of Stuttgart, Germany, in 2011. From 2010 to 2011, he was a Research and Teaching Assistant at the Institute for Systems Theory and Automatic Control at the University of Stuttgart. In 2012, he joined the Faculty of the Department of Control Science & Engineering at Jilin University, China, where he is currently a Full Professor. His current research interests include model predictive control, robust control, and applications in mechatronic systems. (e-mail: shuyou@jlu.edu.cn)

Jing Wang received the B.S. degree in automation from Jilin University, Changchun, China, in 2013, and the M.S. degree in system engineering from Jilin University, Changchun, China, in 2016. From 2016 to 2018, she worked at Hirain Technologies Co., Ltd, Beijing, China. She is currently working at Bosch Automotive Products (Suzhou) Co., Ltd, Suzhou, China. Her research interests include auto electronics, H_∞ control and 4WS control.(e-mail: wangjing13@mails.jlu.edu.cn)

Yan Wang received the B.S. degree in electronic information engineering from Changchun University of Science and Technology, Changchun, China, in 2013, and the M.S. Degree in System Engineering from Jilin Unviversity, Changchun, China, in 2017. She is currently working at Huachen Auto Group, Shenyang, China. Her research interests include H_∞ control and model predictive control.(e-mail: wyan14@mails.jlu.edu.cn)

Hong Chen (M'02-SM'12) received the B.S. and M.S. degrees in process control from Zhejiang University, Zhejiang, China, in 1983 and 1986, respectively, and the Ph.D. degree from the University of Stuttgart, Stuttgart, Germany, in 1997. In 1986, she joined Jilin University of Technology, Changchun, China. From 1993 to 1997, she was a wissenschaftlicher Mitarbeiter at the Institut fuer Systemdynamik und Regelungstechnik, University of Stuttgart. Since 1999, she has been a Professor with Jilin University, where she is presently a Tang Aoqing Professor. Her current research interests include model predictive control, optimal and robust control, nonlinear control, and applications in process engineering and mechatronic systems.e-mail: chenh@jlu.edu.cn
Corresponding author: Shuyou Yu, e-mail: shuyou@jlu.edu.cn
Received Date: 2016-06-17
Accepted Date: 2016-07-05

Abstract

Abstract

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.
- Disturbance observer based control,
- four wheel steering,
- handling stability,
- model reference

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References(17)

References

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

doi: 10.1109/JAS.2016.7510220

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