Abstract
This study presents an attitude control system for a four-wheel steering vehicle had a driving support system (DSS). Generally, the DSS is not a suitable system to ensure stability of the four-wheel vehicles when the vehicles drive some slippery roads such as a snowy road. Therefore, in this study, we propose the attitude control system for the four-wheel steering vehicle which can ensure the stability. In addition, the four-wheel vehicle as control target has a function that handles a steering system of front and rear, independently. To design this control system, we use a state expressed disturbance distributed observer(DOB), discrete-time LQR and linear model predictive control(LMPC). Finally, we present good validation result from a movement-control simulation of the four-wheel steering vehicle.
| Original language | English |
|---|---|
| Title of host publication | 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1544-1550 |
| Number of pages | 7 |
| ISBN (Electronic) | 9784907764609 |
| DOIs | |
| Publication status | Published - 2018 Oct 15 |
| Event | 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 - Nara, Japan Duration: 2018 Sept 11 → 2018 Sept 14 |
Other
| Other | 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 |
|---|---|
| Country/Territory | Japan |
| City | Nara |
| Period | 18/9/11 → 18/9/14 |
Keywords
- Attitude Control
- Disturbance Observer
- Four-Wheel Steering Vehicles
- Linear Model Predictive Control
- Sideslip
ASJC Scopus subject areas
- Control and Systems Engineering
- Control and Optimization
- Instrumentation