VEHICLE HANDLING ENHANCEMENT EMPLOYING FOUR-WHEEL INDEPENDENT STEERING SYSTEM USING SLIDING MODE CONTROL

The demand for safer vehicle transportation and future automated vehicles will open the possibility implementation of steer-by-wire (SbW) steering system. Application this system would not be exclusive only front axle, but rear axle as well. Current four-wheel (4WS) systems are designed applied using Ackermann geometry. Due to designs requirements, an ideal geometry is never achieved kinematics may result in two instantaneous centres rotation during cornering. To avoid this, a control strategy independent (4WIS) proposed where four independently steered wheels attempt achieve single centre sliding mode controller (SMC). As reference model 2DOF nonlinear bicycle used. 4WS 4WIS two-track models created MATLAB/Simulink tested with manoeuvres defined by standard ISO 7401.