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Energies 2018, 11(11), 2930; https://doi.org/10.3390/en11112930

Hierarchical Control of Nonlinear Active Four-Wheel-Steering Vehicles

1
College of Automobile & Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China
2
College of Mechanical and Electronic Engineering, Nanjing Forestry University, Nanjing 210037, China
*
Author to whom correspondence should be addressed.
Received: 17 September 2018 / Revised: 19 October 2018 / Accepted: 23 October 2018 / Published: 26 October 2018
(This article belongs to the Special Issue Automation Control and Energy Efficiency in Complex Systems)
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Abstract

A new type of hierarchical control is proposed for a four-wheel-steering (4WS) vehicle, in which both the sideslip angle and yaw rate feedback are used, and the saturation of the control variables (i.e., the front and rear steering angles) is considered. The nonlinear three degrees of freedom (3DOF) 4WS vehicle model is employed to describe the uncertainties originating from the operating situations. Further, a normal front-wheel-steering (2WS) vehicle with a drop filter of the sideslip angle is selected as the reference model. The inputs for the rear and front steering angles of the linear 2DOF 4WS, required to achieve the performances described by the reference model, are obtained and controlled by the upper controller. Further, the lower controller is designed to eliminate the state error between the linear 2DOF and nonlinear 3DOF 4WS vehicle models. The simulation results of several vehicle models with/without the controller are presented, and the robustness of the hierarchical control system is analyzed. The simulation results indicate that using the proposed hierarchical controller yields the same performance between the nonlinear 4WS vehicle and the reference model, in addition to exhibiting good robustness. View Full-Text
Keywords: active 4WS system; hierarchical control; decoupling; fractional sliding mode control active 4WS system; hierarchical control; decoupling; fractional sliding mode control
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Tian, J.; Ding, J.; Tai, Y.; Chen, N. Hierarchical Control of Nonlinear Active Four-Wheel-Steering Vehicles. Energies 2018, 11, 2930.

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