LQR Optimal Control of Four-steering Vehicle Based on Particle Swarm Optimization Algorithm

This paper proposes a linear quadratic controller based on particle swarm algorithm for the rear wheel control of four-wheel steering vehicle. Particle swarm optimization with fitness functions is used to optimize the coefficients of the weight matrix offline. The fuzzy rules following the controller is used if the road condition is terrible. The simulation results show that the LQR control model based on particle swarm optimization makes the trajectory tracking of the vehicle better and the side slip angle of the vehicle lower. It can be proved that the controller has positive effect on handling stability of the vehicle and safety of drivers. Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Transport and Plannin