A ROBUST ADAPTATIVE REAR WHEEL STEERING CONTROL SYSTEM FOR HANDLING IMPROVEMENT OF FOUR-WHEEL STEERING VEHICLES

Abstract

SUMMARY This paper proposes the structure of and a design method for an Adaptive Rear Wheel Steering Control System (ARWSCS) that maintains desirable vehicle responses though computer control regardless of changes in vehicle dynamics due to operating conditions. The proposed system, based on a Self-Tuning Controller (STC), controls the rear wheels in such a manner that the vehicle makes the same response as those of the reference model which gives the desired response to driver's input. Digital simulations and proving-ground tests verified the practical usefulness of the proposed control system.