Study on mixed H/Hrobust control strategy of four wheel steering system

Four wheel steering（4 WS） technology can effectively improve the vehicle handling stability and driving safety. In order to fully consider the influence of the rear wheel steering, the vehicle dynamics model of 4 WS vehicle, including the rear wheel steering by wire and two degrees of freedom vehicle model of 4 WS vehicle, is established in this paper. The desired yaw rate is obtained according to the variable transmission ratio strategy. The yaw rate tracking strategy is applied to 4 WS vehicle and rear wheel steering resistance moment is taken into account. Based on the robust control theory, H2/H∞ mixed robust controller design is carried to research the stability control of 4 WS vehicle. Finally, the closed-loop simulation added driver model based on preview theory is carried out. The simulation results indicate that the designed H2/H∞ mixed robust controller can achieve the stability control.