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RobustH2/H∞Control for the Electrohydraulic Steering System of a Four-Wheel Vehicle
Mathematical Problems in Engineering
To shorten the steer diameter and to improve the maneuverability flexibility of a construction vehicle, four wheels' steering system is presented. This steering system consists of mechanical-electrical-hydraulic assemblies. Its diagram and principle are depicted in detail. Then the mathematical models are derived step by step, including the whole vehicle model and the hydraulic route model. Considering the nonlinear and time-varying uncertainty of the steering system, robustH2/H∞controller isdoi:10.1155/2014/208019 fatcat:hyoomqthazgdpiubs7xxc24j6i