YAW RATE AND LATERAL ACCELERATION FEEDBACK FOR FOUR-WHEEL STEERING

In this paper, first the lateral and yaw motions are decoupled by yaw rate feedback to active front wheel steering. This decoupling property is robust with respect to uncertain mass, velocity and tire side-force characteristics. Second, an ideal unity steering transfer function is obtained by feedback of the lateral acceleration at the front axle to front wheel steering. Third, velocity invariant yaw dynamics with tunable yaw damping are obtained by feedback of the yaw rate to rear-wheel steering.