Abstract

KLEINE, Sven  and  VAN NIEKERK, Johannes L.. Modelling and control of a steer-by-wire vehicle. R&D j. (Matieland, Online) [online]. 1999, vol.15, pp.51-64. ISSN 2309-8988.

Some aspects of the modelling and control of a steer-by-wire vehicle are discussed. A non-linear simulation model is used to develop an observer, which is then used to implement a full state feedback controller based on sideslip control. This controller, which decouples sideslip by making use of rear-wheel steer, is extended so that the yaw response also becomes a first order system of which the bandwidth can be prescribed. In order to independently control these two modes, two control inputs are required, which are front and rear steering angles. This leads to a full four-wheel steer-by-wire control strategy. The resultant controller improves the dynamics of the vehicle allowing it to negotiate a single lane change at a higher velocity, with improved yaw and sideslip response over the previously suggested Whitehead type controller.

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