An Attitude Control Considering Sideslip Phenomenon Using DOB-Based LMPC-LQR for Four-Wheel Steering Vehicle

摘要

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.