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Yaw Rate Decoupling Control in Active Steering Vehicles
Published April 19, 2004 by University of Salerno in Italy
On the basis of a standard linearized single-track model for yaw rate and lateral speed (or sideslip angle) vehicle dynamics a new feedback control law is proposed for the front steering angle which makes use of yaw rate, lateral acceleration and longitudinal speed measurements. It generalizes the controller proposed by Ackermann (Ackermann, 1990) and achieves the decoupling of the yaw rate regulation dynamics from the lateral speed dynamics. In the case of four-wheel- steering vehicles a centralized decoupling controller is also proposed which achieves the decoupling of lateral speed dynamics from yaw motions, and allows for lateral speed regulation as well.