Model-Following Sliding Mode Control for Active Four-Wheel Steering Vehicle

This paper proposes an active four-wheel steering control law that realizes zero sideslip angle and a flat characteristic of frequency response for lateral acceleration at a center of percussion. Furthermore, a model-following sliding mode control system, whose reference model is the linear vehicle model after feedback of the active four-wheel steering law, is added to guarantee robustness against tire nonlinearity, lateral disturbance and actuator failure. Computer simulations with a multi degrees-of-freedom vehicle model verify the robustness and the effectiveness of the proposed system.