LQR Optimal Control of Four-steering Vehicle Based on Particle Swarm Optimization Algorithm
Songfeng Zhu (Beijing Institute of Technology)
Xueyuan Li (Beijing Institute of Technology)
Xinyi Qu (Inner Mongolia First Machinery Group)
Qi Liu (Beijing Institute of Technology)
Zirui Li (TU Delft - Transport and Planning, Beijing Institute of Technology)
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Abstract
This paper proposes a linear quadratic controller based on particle swarm algorithm for the rear wheel control of four-wheel steering vehicle. Particle swarm optimization with fitness functions is used to optimize the coefficients of the weight matrix offline. The fuzzy rules following the controller is used if the road condition is terrible. The simulation results show that the LQR control model based on particle swarm optimization makes the trajectory tracking of the vehicle better and the side slip angle of the vehicle lower. It can be proved that the controller has positive effect on handling stability of the vehicle and safety of drivers.