@article{ref1,
title="Development of 4WS control algorithms for an SUV",
journal="JSAE review",
year="2003",
author="Akita, Takeshi and Satoh, Keiichi",
volume="24",
number="4",
pages="441-448",
abstract="We have developed various control algorithms to improve drivability for a 4 wheel steering vehicle, especially when towing a trailer. For improving vehicle stability at high speed, a control method that utilizes model matching method and H[infinity] control, was proposed, and its effectiveness was verified. For rear edge swing-out concern in out-phase rear steering mode at low speed, a control algorithm that internally calculates the front edge trajectory and steers the rear tires without swing-out from the trajectory, was designed and experimentally verified. For reverse driving when trailer towing, we proposed a control method that makes the system stable to improve drivability.<p />",
language="",
issn="0389-4304",
doi="10.1016/S0389-4304(03)00070-5",
url="http://dx.doi.org/10.1016/S0389-4304(03)00070-5"
}