国家自然科学基金资助项目(50075060)和天津市科技发展计划资助项目（０３３１０５０１１）
应用混和控制(Hybrid Control）中的切换系统(Switched System)的方法，分别对汽车四轮转向系统的高速态与低速态两个子系统以及由高速态向低速态变化的切换系统进行了最优控制设计.仿真结果表明，Hybrid控制实现了四轮转向系统(4WS)的低速灵活性与高速稳定性，具有良好的控制效果.
By using the method of switched system in hybrid control,4WS optimal controllers for highspeedstate subsystem,lowspeedstate subsystem and the switched system which transforms from high speed state to low speed state were designed respectively for the first time.Computer simulation showed that the flexibility at low speed and the stability at high speed were carried out by hybrid control,and that the controller had a satisfactory control effect.
王洪礼,乔宇,张锋,张伯俊.汽车四轮转向动力系统的Hybrid控制研究[J].动力学与控制学报,2003,1(1):53~58; Wang Hongli, Qiao Yu, Zhang Feng, Zhang Bojun. Research of Hybrid control for vehicle 4WS dynamic system[J]. Journal of Dynamics and Control,2003,1(1):53-58.
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