Enhancing Yaw Tracking Stability in 4WS Vehicles: An Output Redefinition Approach to Overcoming Nonminimum-Phase Challenges

This paper presents a novel approach to addressing nonminimum-phase in yaw tracking control for four-wheel-steering (4WS) vehicles, focusing on conditions of tyre force saturation. We propose redefining the control system's output to include both yaw rate and lateral velocity, facilitating the use of a straightforward Proportional-Integral (PI) controller. This method effectively transforms the nonminimum-phase issue into a minimum-phase problem, simplifying the control strategy while ensuring enhanced stability and safety. Theoretical analysis and simulation results validate the effectiveness of our approach, demonstrating significant improvements in system performance under challenging driving scenarios. This study contributes to advancing vehicle control systems, with implications for improved vehicle safety and handling performance.