Steering control for lateral guidance of an all wheel steered vehicle

This paper presents the design of low-order controller for lateral guidance of an all wheel steered, single articulated vehicle. The vehicle has independent drives on each wheel except for the front axle. The design of controller is based on a three input-three output linearised model which is derived from the nonlinear vehicle dynamic model. For the purpose of making the controller be simple and tunable, a low-order control configuration associated with a decoupling compensator is considered and has been designed by using the methods in [4,5] so as to meet several performance requirements, subject to different reference paths and vehicle speeds. It is shown by simulation results that the resulting linear controller applied to the nonlinear dynamic model achieves the design objectives successfully.