Abstract
Some experimental and theoretical investigations were carried out to stabilize the dynamic motions of a vehicle with independent rotating wheels by control of steering on wheels. Scale model (about 1/8) of independently rotating 4 wheels truck with drive motors was made. The wheels steering angle was controlled by actuator using a microcomputer with the information of lateral displacement of the truck. Equations of motion were derived and simulation was performed. In the experiment, the front-rear wheel steering was carried out, and the stability was verified. In the theory, motion equations in expanding the control algorithm of steering angle were derived. And, some simulations results were shown with the considerations of influence of control parameters.
