Optimal control strategy for low speed and high speed four-wheel-active steering vehicle
In this work, based on the optimal control theory approach, a four-wheel-active steering (4WAS) system is proposed for low speed and high speed applications. A model following the control structure is adopted consisting of a feed-forward and feedback compensation strategy that serves as correction i...
Saved in:
Main Authors: | , , , , , |
---|---|
Format: | Article |
Published: |
Universiti Malaysia Pahang
2015
|
Subjects: | |
Online Access: | http://eprints.utm.my/id/eprint/58701/ http://dx.doi.org/10.15282/jmes.8.2015.26.0148 |
Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
id |
my.utm.58701 |
---|---|
record_format |
eprints |
spelling |
my.utm.587012021-10-06T06:36:38Z http://eprints.utm.my/id/eprint/58701/ Optimal control strategy for low speed and high speed four-wheel-active steering vehicle Mohammed Ariff, Mohd. Hatta Zamzuri, Hairi Mohamad Nordin, Muhammad Afandi Wira, Jazair Yahya Mazlan, Saiful Amri Abdul Rahman, Mohd. Azizi TJ Mechanical engineering and machinery In this work, based on the optimal control theory approach, a four-wheel-active steering (4WAS) system is proposed for low speed and high speed applications. A model following the control structure is adopted consisting of a feed-forward and feedback compensation strategy that serves as correction inputs to enhance the vehicle's dynamic behavior. The velocity dependent feed-forward control inputs are based on the driver's steering intention while the feedback control inputs are based on the vehicle's state feedback errors, being the sideslip and yaw rate of the vehicle. Numerical simulations are conducted using the Matlab/Simulink platform to evaluate the control system's performance. The performance of the 4WAS controller is tested in two designated open loop tests, being the constant steer and the lane change maneuver, to evaluate its effectiveness. A comparison with conventional passive front-wheel-steering (FWS) and conventional four-wheel-steering (4WS) systems shows the preeminent result performance of the proposed control strategy in terms of the response tracking capability and versatility of the controller to adapt to the system's speed environment. In high speed maneuvers, the improvement in terms of yaw rate tracking error in rms is evaluated and the proposed active steering system considerably beat the other two structures with 0.2% normalized error compared to the desired yaw rate response. Meanwhile, in low speed, turning radius reductions of 25% and 50% with respect to the capability of normal or typical FWS vehicles are successfully achieved. Universiti Malaysia Pahang 2015 Article PeerReviewed Mohammed Ariff, Mohd. Hatta and Zamzuri, Hairi and Mohamad Nordin, Muhammad Afandi and Wira, Jazair Yahya and Mazlan, Saiful Amri and Abdul Rahman, Mohd. Azizi (2015) Optimal control strategy for low speed and high speed four-wheel-active steering vehicle. Journal Of Mechanical Engineering And Sciences, 8 . pp. 1516-1528. ISSN 2289-4659 http://dx.doi.org/10.15282/jmes.8.2015.26.0148 DOI:10.15282/jmes.8.2015.26.0148 |
institution |
Universiti Teknologi Malaysia |
building |
UTM Library |
collection |
Institutional Repository |
continent |
Asia |
country |
Malaysia |
content_provider |
Universiti Teknologi Malaysia |
content_source |
UTM Institutional Repository |
url_provider |
http://eprints.utm.my/ |
topic |
TJ Mechanical engineering and machinery |
spellingShingle |
TJ Mechanical engineering and machinery Mohammed Ariff, Mohd. Hatta Zamzuri, Hairi Mohamad Nordin, Muhammad Afandi Wira, Jazair Yahya Mazlan, Saiful Amri Abdul Rahman, Mohd. Azizi Optimal control strategy for low speed and high speed four-wheel-active steering vehicle |
description |
In this work, based on the optimal control theory approach, a four-wheel-active steering (4WAS) system is proposed for low speed and high speed applications. A model following the control structure is adopted consisting of a feed-forward and feedback compensation strategy that serves as correction inputs to enhance the vehicle's dynamic behavior. The velocity dependent feed-forward control inputs are based on the driver's steering intention while the feedback control inputs are based on the vehicle's state feedback errors, being the sideslip and yaw rate of the vehicle. Numerical simulations are conducted using the Matlab/Simulink platform to evaluate the control system's performance. The performance of the 4WAS controller is tested in two designated open loop tests, being the constant steer and the lane change maneuver, to evaluate its effectiveness. A comparison with conventional passive front-wheel-steering (FWS) and conventional four-wheel-steering (4WS) systems shows the preeminent result performance of the proposed control strategy in terms of the response tracking capability and versatility of the controller to adapt to the system's speed environment. In high speed maneuvers, the improvement in terms of yaw rate tracking error in rms is evaluated and the proposed active steering system considerably beat the other two structures with 0.2% normalized error compared to the desired yaw rate response. Meanwhile, in low speed, turning radius reductions of 25% and 50% with respect to the capability of normal or typical FWS vehicles are successfully achieved. |
format |
Article |
author |
Mohammed Ariff, Mohd. Hatta Zamzuri, Hairi Mohamad Nordin, Muhammad Afandi Wira, Jazair Yahya Mazlan, Saiful Amri Abdul Rahman, Mohd. Azizi |
author_facet |
Mohammed Ariff, Mohd. Hatta Zamzuri, Hairi Mohamad Nordin, Muhammad Afandi Wira, Jazair Yahya Mazlan, Saiful Amri Abdul Rahman, Mohd. Azizi |
author_sort |
Mohammed Ariff, Mohd. Hatta |
title |
Optimal control strategy for low speed and high speed four-wheel-active steering vehicle |
title_short |
Optimal control strategy for low speed and high speed four-wheel-active steering vehicle |
title_full |
Optimal control strategy for low speed and high speed four-wheel-active steering vehicle |
title_fullStr |
Optimal control strategy for low speed and high speed four-wheel-active steering vehicle |
title_full_unstemmed |
Optimal control strategy for low speed and high speed four-wheel-active steering vehicle |
title_sort |
optimal control strategy for low speed and high speed four-wheel-active steering vehicle |
publisher |
Universiti Malaysia Pahang |
publishDate |
2015 |
url |
http://eprints.utm.my/id/eprint/58701/ http://dx.doi.org/10.15282/jmes.8.2015.26.0148 |
_version_ |
1715189645387497472 |
score |
13.160551 |