Parameter optimization for decoupling controllers of 4WS vehicles

In this paper, performance analysis of physical models and parameter optimization of two typical decoupling controllers are considered. Firstly, new relationship between velocity and acceleration for the nonlinear performance is established. Then, for the decoupled quasi-linearized system, the parameter region is optimized, in which the damping is bigger than one and eigenvalues are smaller than any negative number. For the decoupled linearized system, the necessary and sufficient conditions, that overshoot and irritating are avoided and measurement-error disturbance is attenuated to under any positive number, are deduced. Simulations show that safety and comfort are improved obviously.