적응제어기법을 이용한 4륜 조향 차량의 제어기 설계

Abstract

In this paper, the adaptive control scheme through the indirect STR (Self Tuning Regulator) is investigated for a 4WS (Four Wheel Steering) vehicle with controlling rear-wheel steering angle. The bicycle vehicle model is used for controlling a 4WS vehicle with yaw rate feedback. The dynamic performances of controlled bicycle vehicle had good senses. However, the controller based on the bicycle vehicle model did not have dynamic performances applying a fUll-vehicle model. The controller is desired to have the similar maneuverability of a bicycle vehicle. The adaptive controller for the 4WS vehicle applying the nonlinearity by a tire model and the disturbances by sensor noises was considered. The 4WS vehicle using an adaptive control was compared to the 2WS vehicle and 4WS vehicle with yaw rate feedback control by lane change test. The 4WS vehicle with an adaptive control shows the as good performances as those from the controlled bicycle vehicle through the full-vehicle simulations.