Robustness to speed of 4WS vehicles for yaw and lateral dynamics

Oded Yaniv*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This paper addresses the issue of robustness and closed loop performance of four wheel steering (4WS) vehicles for yaw and lateral maneuvers for fixed and non-fixed speeds. A feedback structure derived from the plant inverse dynamic, such that the vehicle 2×2 matrix transfer function is robust to speed, is proposed. The efficiency of the proposed structure depends on the actuator's bandwidth and non-linearities, and on the sensor delay. A design example which shows how to implement the proposed algorithm in highly uncertain vehicles, subject to actuator bandwidth limitations and sensor delay, is provided.

Original languageEnglish
Pages (from-to)221-234
Number of pages14
JournalVehicle System Dynamics
Issue number4
StatePublished - Apr 1997


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