Path Tracking of Four Wheel Steering Vehicle by Using Sliding Mode Control

Abstract

The present paper proposes a four wheel steering (4WS) controller for path tracking by using sliding mode control theory. It is based on the advantage that front and rear wheel steering can be decoupled at the reference points, where are defined as vehicle centers of percussion with respect to front and rear wheel. Simulations demonstrate the following characteristics : 1) the proposed 4WS vehicle follows the path more stablely and precisely than 2WS vehicle, 2) it has robust stability against the perturbation of cornering power, path radius and the cross-wind disturbance, and 3) steady state is not affected by the cross-wind disturbance.