Yaw feedback control of active steering vehicle based on differential flatness theory
Haiyan Qiang, Cheng Xiao, Hengyue Huang, Yichen Hai, Yougang Sun
Abstract
In order to solve the problems of nonlinearity, underactuation and insufficient lateral stability of an active steering vehicle (ASV) in trajectory tracking tasks, a yaw feedback control strategy based on differential flatness theory is proposed in this paper.Firstly, the vehicle integrated monorail model is established, and the vehicle model is linearized by small angle approximation.Secondly, a suitable flat output is found to convert a complex vehicle model into a full drive system, and the flatness of the linear model is proved.Then, an equivalent form of the vehicle model is constructed based on the flat output and its derivatives, and a feedback controller based on the differential flat theory is designed to complete the trajectory tracking control through active steering and longitudinal motion.Finally, an ASV control simulation model is built in MATLAB/Simulink, and the simulation results show the effectiveness of the proposed control strategy under different maneuvering conditions.