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Automotive Control Systems by Huei Peng, A. Galip Ulsoy, Melih Çakmakci

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15 Four-Wheel Steering

15.1 Basic Properties

In Chapter 4, we review the lateral dynamics of a front-wheel steering (FWS) vehicle. Following the same procedure, the dynamic equations for a four-wheel-steering (4WS) “bicycle” vehicle can be derived. The state-space model of the 4WS vehicle model is as follows:
(15.1)
If we include the lateral displacement and the yaw angle as the two extra state variables, then time-domain performance of 4WS vehicles (e.g., lane following) also can be simulated. The fourth-order state-space model is obtained by adding two trivial dynamic equations, = v + uoψ and = r, to the two-state model:
(15.2) ...

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