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VEHICLE CONTROL WITH INDEPENDENT FRONT AND REAR WHEEL STEERING

The control problem of the lateral behavior of vehicles with four wheel steer has attracted much research interest over the last 20 years. The independent rotation of the rear wheels may offer additional flexibility to the steering of the vehicle thus solving many problems, particularly in environments where uncertain physical parameters may take place as far as the road or the vehicle are concerned.

The research team of the Automation Department of the TEI of Chalkida, has designed a new robust control algorithm for vehicles with independent rotation of the front and rear wheels.

The suggested technique provides higher accuracy and faster response to the reactions of the driver, by making the lateral movement from the vehicle independent when turning. At the same time, sideslip of the vehicle is minimized for a large speed range. Besides improving the stability in the sudden changes of direction, this proposed technique can ensure better response when turning and changing lanes, as well as better control in the changes of the mass and the speed of the vehicle.

Algorithms that ensure a secure and comfortable driving

DESIGNING CONTROL ALGORITHMS FOR VEHICLES WITH FOUR WHEEL STEERING

Over the last decade, professor Fotis Koumboulis and the Assistant Professor Michael Skarpetis of the Automation Department, at the TEI of Chalkida, have developed automatic control systems of the course of the vehicles with four wheel steering, which improve the driving behavior of the car in order for it to follow a desired course. The proposed control systems are commanded by the driver and control properly the front and rear wheel steering.

In the framework of this activity the professors have presented a large number of papers, among which, one received an award in 2003. In that paper, the control system design has been based on the implementation of a control algorithm which includes the general robust triangular decoupling controller combined with a high profit attenuation filter of the vehicle's sideslip angle. The control system succeeds in a) guaranteeing that the lateral acceleration follows the driver's command b) achieving robust relaxation of the sideslip angle and c) preserving robust stability. The suggested system is independent from major uncertainties of the car model, namely the car's mass and the road characteristics. It can be implemented with simple algorithms and utilized in micro–controllers and control platforms of vehicles.

INSTITUTION OF ELECTRICAL ENGINEERS, 2003

The “Robust Control of Cars with Front and Rear Wheel Steering” paper was published in 2002 by the international magazine: IEE Proceedings – Control Theory and Applications, volume 149, p. 394-404, 2002.

The research won the "2003 IEE Coales Premium" prize by the ΙΕΕ institution (Institution of Electrical Engineers, 1871 until 2005), which was later renamed into the ΙΕΤ (Institution of Engineering and Technology, 2006-).

The IET is one of the world’s largest engineering institutions in Europe with over 160,000 members. Its database contains over 12 million literature abstracts, conference proceedings and other publications in the research and technology field.

TEI OF WESTERN GREECE

Former TEI OF CHALKIDA

Dr. Fotis N. Koumboulis, Professor of Robotics and Industrial of the Department of Automation.

Dr. Michael G. Skarpetis, Assistant Professor of Hydraulics and Pneumatics control systems, Department of Automation.

http://www.aut.teihal.gr/http://digital-library.theiet.org