Abstract
An artificial neural network(ANN) model of four-wheel steering(4WS) vehicle is structured, which is based on the assumption that the vehicle is simplified as a linear two-dimension model in which the nonlinear characteristics of tires are taken into account. The reversal ANN model of 4WS vehicle is specified, and this reversal model serves as controller to make the sideslip angle of vehicle vanish at high speed. Simulation results demonstrate that the performance of a vehicle with the neuro-controller is far better than that of a vehicle with fixed control gain.