Path tracking stability control of four-wheel steer-by-wire
To improve the stability in the vehicle path tracking process under high speed and different road surface adhesion coefficients,we design a path tracking control strategy considering the stability of the whole vehicle maneuvering.First,based on the structure and working principle of wire-controlled four-wheel steering,we build a mathematical model of wire-controlled four-wheel steering and a Simulink/Carsim joint simulation model of the whole vehicle.Then,since both front and rear wheels of the wire-controlled four-wheel steering can be controlled,in order to track the desired path,the front wheel is controlled by designing the sliding mode variable structure control strategy to get additional front wheel angle to control the vehicle trajectory.Next,the rear wheel is controlled by the integral sliding mode stability control strategy with the goal of the center-of-mass side deviation angle and the traverse angular velocity of the reference model.Based on the joint simulation results of CarSim and Simulink,it is shown our control strategy achieves the stability control of the whole vehicle at high speeds with low road adhesion coefficients while effectively tracks the desired path.
four-wheel steer-by-wirepath trackingsliding mode controlstability control
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