@inproceedings{6660e1efdeec44cca736dd66ff668f08,
title = "LQR Optimal Control of Four-steering Vehicle Based on Particle Swarm Optimization Algorithm",
abstract = "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.",
keywords = "LQR, fuzzy controller, particle swarm optimization, side slip angle",
author = "Songfeng Zhu and Xueyuan Li and Xinyi Qu and Qi Liu and Zirui Li",
note = "Publisher Copyright: {\textcopyright} 2022 ACM.; 2nd International Conference on Control and Intelligent Robotics, ICCIR 2022 ; Conference date: 24-06-2022 Through 26-06-2022",
year = "2022",
month = jun,
day = "24",
doi = "10.1145/3548608.3559298",
language = "English",
series = "ACM International Conference Proceeding Series",
publisher = "Association for Computing Machinery",
pages = "740--745",
booktitle = "Proceedings of 2022 2nd International Conference on Control and Intelligent Robotics, ICCIR 2022",
}