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Title of Journal: Int J Control Autom Syst

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Abbravation: International Journal of Control, Automation and Systems

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Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers

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10.1007/bf00722893

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2005-4092

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Nonlinear decoupling control of fourwheelsteerin

Authors: Changfang Chen Yingmin Jia
Publish Date: 2012/08/14
Volume: 10, Issue: 4, Pages: 697-702
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Abstract

This paper studies the inputoutput decoupling control for the nonlinear vehicle model consisting of three degrees of freedom The technique of quasilinearization is used to simplify the vehicle model which preserves inherent coupling effects between longitudinal acceleration/braking force steering angles and the vehicle states By choosing the combined control inputs the inputoutput map of the vehicle dynamical system is reconstructed Based on the model the inputoutput decoupling controller is proposed Furthermore an asymptotically stable observer is presented A modified form of mean value theorem is used to design the observer for the nonlinear vehicle system with bounded Jacobian The observer gain can be obtained by solving linear matrix inequalities LMIs Several simulations are carried out to show the improvements in vehicle handling and stability due to the inputoutput decoupling controlChangfang Chen received her BS degree in mathematics and MS degree in control theory from Qufu Normal University Qufu China in 2005 and 2008 respectively She is currently pursuing a PhD studies at Beihang University Beijing China Her research interests include nonlinear and adaptive control and robust control with automotive applicationsYingmin Jia was born in Shandong China He received his BS degree in control theory from Shandong University Ji’nan China in January 1982 and his MS and PhD degrees both in control theory and applications from Beihang University BUAA Beijing China in 1990 and 1993 respectively His current research interests include robust control adaptive control and intelligent control and their applications in industrial processes and vehicle systems He is author and coauthor of numerous papers and of the book Robust H ∞ Control Science Press 2007

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Other Papers In This Journal:
  1. Finite-time control for discrete-time switched systems with time delay
  2. Backward orientation tracking control of mobile robot with N trailers
  3. Autopilots for small unmanned aerial vehicles: A survey
  4. An LMI Approach to consensus in second-order multi-agent systems
  5. A Gaussian distributed resampling algorithm for mitigation of sample impoverishment in particle filters
  6. Periodic use of time-varying state feedbacks for the receding horizon control of bilinear systems
  7. Non-symmetric unscented transformation with application to in-flight alignment
  8. Optimized ellipsoid algorithm for LMI feasibility problems
  9. Improved stability criteria for T-S fuzzy systems with time-varying delay by delay-partitioning approach
  10. High gain adaptive observer design for sensorless state and parameter estimation of induction motors
  11. Adaptive consensus control for multiple Euler-Lagrange systems with external disturbance
  12. Position coordinate representation of flying arrow and analysis of its performance indicator
  13. Exploration of unknown object by active touch of robot hand
  14. A recursive state estimator in the presence of state inequality constraints
  15. Over networks H ∞ filtering for discrete singular jump systems with interval time-varying delay
  16. A grey probability measure set based mobile robot position estimation algorithm
  17. Fault diagnosis and fault tolerant control for non-Gaussian time-delayed singular stochastic distribution systems
  18. The localization of a mobile robot using a pseudolite ultrasonic system and a dead reckoning integrated system
  19. Parameter convergence in adaptive feedback linearizing control of limit cycling systems with input saturation
  20. Lyapunov-based feedback design and experimental verification of IC engine speed control
  21. Cadaver study for spinal fusion surgery using an image-guided surgical robot system
  22. Motion control of an omnidirectional mobile platform for trajectory tracking using an integral sliding mode controller
  23. Robust control under constraints of linear systems with Markovian jumps
  24. Robust stabilization of singular markovian jump systems with uncertain switching
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