Model Following Control of Active 4WS Vehicle Based on Constrained Output Feedback H_∞ Control

We propose a new four-wheel-steering (4WS) control approach using the strategy of reference-model-following control, whose feedback controller is designed based on constrained output feedback H_∞ control. By combining feedforward and feedback controls, the front and rear wheel steering angles are simultaneously controlled in order to follow the desired performance of the reference-vehicle model. Taking anti-interference ability and actuator saturation into consideration, we applied the constrained H_∞ output feedback control to the design of the feedback controller. Our simulation experiment results show that the proposed 4WS vehicle can follow the reference vehicle model and improve vehicle handing stability.