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

Hiromu Soubou, Takashi Ohhira, Akira Shimada

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1544-1550
Number of pages7
ISBN (Electronic)9784907764609
DOIs
Publication statusPublished - 2018 Oct 15
Event57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 - Nara, Japan
Duration: 2018 Sep 112018 Sep 14

Other

Other57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018
CountryJapan
CityNara
Period18/9/1118/9/14

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Keywords

  • Attitude Control
  • Disturbance Observer
  • Four-Wheel Steering Vehicles
  • Linear Model Predictive Control
  • Sideslip

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Instrumentation

Cite this

Soubou, H., Ohhira, T., & Shimada, A. (2018). An Attitude Control Considering Sideslip Phenomenon Using DOB-Based LMPC-LQR for Four-Wheel Steering Vehicle. In 2018 57th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2018 (pp. 1544-1550). [8492534] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SICE.2018.8492534