| 초록 |
The four-wheel independent steering system is an innovative technology where each wheel is independently controlled. However, it has a vulnerability to external disturbances and loads. Particularly, since each wheel must handle the vehicle load individually, this can impact the system's stability and performance. This study proposes a method to enhance the control performance of the four-wheel independent steering system by applying an Extended State Observer (ESO) and State Feedback Controller (SFC). The ESO is used to estimate and compensate for external disturbances and loads, while the SFC utilizes system states as feedback to generate control signals. Through experimental validation, we demonstrate that this approach improves the system's stability and tracking performance. This paper aims to present a new perspective on the control of four-wheel independent steering systems and discuss its practical applicability in real-world road scenarios. |
