| RESEARCH ON CONTROL STRATEGY FOR DIFFERENTIAL STEERING SYSTEM BASED ON H MIXED SENSITIVITY |
| W. Z. ZHAO, Y. J. LI, C. Y. WANG, Z. Q. ZHANG, C. L. XU |
| Nanjing University of Aeronautics and Astronautics |
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| ABSTRACT |
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The differential steering system (DSS) of electric wheel vehicle gets rid of the restrictions of traditional steering system completely. As an ideal steering technology, it not only realizes the perfect combination of the road feel and the steering portability, but also realizes the harmony and unification between the steering maneuverability and safety. The structure and basic theory of the DSS of electric wheel vehicle are discussed in this paper. Based on these, the dynamic model of the steering system is built. Considering of the uncertainties and disturbances existing in the model, the H |
| Key Words:
Electric wheel vehicle, Differential steering, Control strategy, H∞ mixed sensitivity |
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