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Open AccessFeature PaperArticle

Hierarchical Synchronization Control Strategy of Active Rear Axle Independent Steering System

by Bin Deng 1, Han Zhao 1, Ke Shao 2, Weihan Li 1,* and Andong Yin 1
1
School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009, China
2
Center for Artificial Intelligence and Robotics, Tsinghua Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(10), 3537; https://doi.org/10.3390/app10103537
Received: 28 April 2020 / Revised: 17 May 2020 / Accepted: 19 May 2020 / Published: 20 May 2020
(This article belongs to the Special Issue Advances in Mechanical Systems Dynamics 2020)
The synchronization error of the left and right steering-wheel-angles and the disturbances rejection of the synchronization controller are of great significance for the active rear axle independent steering (ARIS) system under complex driving conditions and uncertain disturbances. In order to reduce synchronization error, a novel hierarchical synchronization control strategy based on virtual synchronization control and linear active disturbance rejection control (LADRC) is proposed. The upper controller adopts the virtual synchronization controller based on the dynamic model of the virtual rear axle steering mechanism to reduce the synchronization error between the rear wheel steering angles of the ARIS system; the lower controller is designed based on an LADRC algorithm to realize an accurate tracking control of the steering angle for each wheels. Experiments based on a prototype vehicle are conducted to prove that the proposed hierarchical synchronization control strategy for the ARIS system can improve the control accuracy significantly and has the properties of better disturbances rejection and stronger robustness. View Full-Text
Keywords: active rear axle independent steering (ARIS) system; hierarchical synchronization control; virtual coupling control; linear active disturbance rejection control (LADRC) active rear axle independent steering (ARIS) system; hierarchical synchronization control; virtual coupling control; linear active disturbance rejection control (LADRC)
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Deng, B.; Zhao, H.; Shao, K.; Li, W.; Yin, A. Hierarchical Synchronization Control Strategy of Active Rear Axle Independent Steering System. Appl. Sci. 2020, 10, 3537.

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