On Lateral Dynamics Control of Commercial Three-Axle Vehicle by Front and Rear Wheels Steering 2002-01-1214

The optimal control laws of front and rear wheels for a three-axle vehicle on complex typical path are studied based on the vehicle model of closed-loop control. The steering responses of the vehicle are improved through using steering state feedback. The actual vehicle model is considered as an uncertain system. The cornering stiffness of front and rear wheels and outer disturbances are variable over a limited range. The model-following variable structure control method is used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of uncertain vehicle model can follow the characteristics of reference model. Simulation results have demonstrated that the control system model can cape with the effects of parameter perturbations and outside disturbances.