Study on the Multi-Mode Optimal Control of Four-Wheel Steering Vehicle

To improve the overall performance of four-wheel steering vehicles under different working conditions and solve problem unbalanced comprehensive control effect a single controller, multi-mode optimal decision system is proposed based on linear 2-DOF dynamic model vehicle, which can make vehicle have better conditions. The composed multiple controllers, in self-tuning dual yaw rate feedback controller create timely adjustments according to driving state condition small rotation angle at medium high speeds. match corresponding strategies speeds angles. simulation results show that selection perform optimally conditions, more prominent than controller.