Yaw control using rear wheel steering

Abstract: The purpose of this project is to continue the work on a vehicle model developed in ADAMS/Car and applied with the concept of ACM (Autonomous Corner Module). The project is divided up in two parts. The objective of the first part is to setup a co-simulation environment between ADAMS/Car and MATLAB/Simulink, and evaluate the vehicle model. In the second part a yaw controller is developed using only the rear wheel steering possibilities. The controller will be evaluated when it is applied on the vehicle model. The approach is to develop two models, one simpler in MATLAB/Simulink and one more complex in ADAMS/Car, and verify that they show similar behavior. The models will then be linearized and the control design will be based on the most appropriate linear model. Most of the work has been developing and evaluating the two vehicle models in ADAMS/Car and MATLAB/Simulink. The result was a working co-simulation environment where an evaluation of two different controllers was made. Due to linearization of the ADAMS model was nsuccessful, the controllers were based on the simpler linear Simulink model. Both controllers show similar results. Tests on the ADAMS model showed that it is hard to control both the yaw rate and body slip only by rear wheel steering.