Robust Nonlinear Decoupling and Yaw Stabilization of 4WS Cars

Four-wheel car steering is modelled with nonlinear tire characteristics and kinematic nonlinearities for large steering angles. For this model a generic constant yaw-rate feedback law for decoupling of lateral and yaw motion is derived. For robust yaw stabilization a velocity scheduled yaw rate feedback to rear-wheel steering is given, by which the linear part of the system gets velocity independent yaw eigenvalues