RANCANGAN DASAR SISTEM KENDALI UMPAN MAJU PADA SISTEM KEMUDI EMPAT RODA BERDASARKAN MODEL KENDARAAN PENUH
Abstract
This paper discribes a basic design of feed forward controller on a four wheel steering (4WS) vehicle. The controller directs all wheels to get an optimal maneuver. Controlling the wheels is done by controlling each sideslip angles (βi). The sideslip angles are computed by estimating slip angles (αi). Estimation of slips angles are done by sideslip angles based on full car model. The mathematical model is computed based on all forces that work on each wheels.
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