A Global Approach to Vehicle Control: Coordination of Four Wheel Steering and Wheel Torques

[+] Author and Article Information
Ssu-Hsin Yu

Department of Mechanical Engineering, MIT, Cambridge, MA 02139

John J. Moskwa

Department of Mechanical Engineering, University of Wisconsin, Madison, WI 53706

J. Dyn. Sys., Meas., Control 116(4), 659-667 (Dec 01, 1994) (9 pages) doi:10.1115/1.2899265 History: Received June 17, 1991; Online March 17, 2008


Currently, advanced control systems implemented on production ground vehicles have the goal of promoting maneuverability and stability. With proper coordination of steering and braking action, these goals may be achieved even when road conditions are severe. This paper considers the effect of steering and wheel torques on the dynamics of vehicular systems. Through the input-output linearization technique, the advantages of four-wheel steering (4WS) system and independent torques control are clear from a mathematical point of view. A sliding mode controller is also designed to modify driver’s steering and braking commands to enhance maneuverability and safety. Simulation results show the maneuverability and safety are improved. Although the controller design is based on a four-wheel steering vehicle, the algorithm can also be applied to vehicles of different configurations with slight changes.

Copyright © 1994 by The American Society of Mechanical Engineers
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