Abstract: For wire-controlled four-wheel steering vehicles, a fuzzy sliding mode four-wheel steering control method based on exponential approach rate is proposed. A fuzzy sliding mode control strategy is designed that takes the steering wheel angle of the vehicle as the system input, and the steering angle of the front and rear wheels of the vehicle as the output. By tracking the preset ideal steering state of the two-degree-of-freedom vehicle, the actual steering state approaches the ideal steering state. By designing a fuzzy controller, the chattering phenomenon in the sliding mode control process is reduced. Finally, the consistency and robustness of the sliding mode control effect are verified through three different working conditions. The results show that the control method has good transient response characteristics and can ensure that the vehicle running state does not occur under a certain limit of interference variety.

Key words: Four-wheel steering; Sliding mode control; Steering control strategy; Simulink/Carsim simulation

摘要： 针对线控四轮转向车辆，提出了一种基于指数趋近率的模糊滑模四轮转向控制方法。 设计了以车辆方向盘转角为系统输入，车辆前、后轮转向角为输出的模糊滑模控制策略，通 过跟踪预设的二自由度车辆理想转向状态，使实际转向状态趋近于理想转向状态。通过设计 模糊控制器，降低了滑模控制过程中的抖振现象。最后通过三种不同工况进行滑模控制效果 的一致性和鲁棒性验证。结果表明，该控制方法具有较好的瞬态响应特性，并且在一定界限 的干扰下保证车辆运行状态不发生巨大变化。

关键词: 四轮转向；滑模控制；转向控制策略；Simulink/Carsim 仿真