Robust QFT tracking controller design for a car equipped with 4-wheel steer-by-wire

In the present paper, a non-diagonal multi-input multi-output (MIMO) Quantitative Feedback Theory (QFT) controller design methodology is applied to control the lateral and yaw motions of a car equipped with four-wheel steering. The overall objective is to track the sideslip angle and yaw-rate with t...

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Bibliographic Details
Main Authors: Barreras, M., Villegas, C., Garcia-Sanz, M., Kalkkuhl, J.
Format: Conference Proceeding
Language:English
Subjects:
Design methodology
Electrostatic precipitators
Feedback
Frequency domain analysis
MIMO
Motion control
Robust control
Stability
Uncertainty
Vehicle dynamics
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Summary:In the present paper, a non-diagonal multi-input multi-output (MIMO) Quantitative Feedback Theory (QFT) controller design methodology is applied to control the lateral and yaw motions of a car equipped with four-wheel steering. The overall objective is to track the sideslip angle and yaw-rate with the aim of achieving satisfactory performance specifications for the vehicle lateral dynamics, regarding the rejection of external disturbances on yaw rate and sideslip angle, minimizing the interaction as much as possible and taking into account the model uncertainty.
ISSN:2165-3011
2165-302X
DOI:10.1109/CACSD-CCA-ISIC.2006.4776832