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JRM Vol.23 No.1 pp. 83-93
doi: 10.20965/jrm.2011.p0083
(2011)

Paper:

Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces

Nobutaka Wada*, Akihiro Takahashi**, Masami Saeki**,
and Masaharu Nishimura*

*Dept. of Mechanical and Aerospace Engineering, Tottori University, 4-101 Koyama-Minami, Tottori 680-8552, Japan

**Dept. of Mechanical System Engineering, Hiroshima University, 1-4-1 Kagamiyama, Higashi-Hiroshima, Hiroshima 739-8527, Japan

Received:
April 12, 2010
Accepted:
July 15, 2010
Published:
February 20, 2011
Keywords:
yaw control, vehicle dynamics, active front steering, lateral tire force saturation
Abstract

We have proposed a design method of an active front wheel steering controller that guarantees closed-loop stability under lateral tire force saturation. The controller uses lateral tire force information to counteract destabilization caused by such saturation. The controller suppresses slip angle magnitude while lateral tire force is saturated. Numerical simulation results confirmed the effectiveness of the proposed method.

Cite this article as:
Nobutaka Wada, Akihiro Takahashi, Masami Saeki, and
and Masaharu Nishimura, “Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces,” J. Robot. Mechatron., Vol.23, No.1, pp. 83-93, 2011.
Data files:
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