中文摘要：

为提高汽车四轮转向系统性能，以汽车二自由度模型为基础，采用前馈和反馈的组合控制，基于实时操作系统在32位ARM处理器上设计汽车的H∞控制器．样机测试实验结果表明：在高速状态下，车体侧偏角在2°左右，侧向加速度为12m／s^2附近，横摆角速度增益保持在1．6上下；低速状态下，前后轮转角反向相差10°左右，四轮转向半径比两轮转向缩短30％左右．因此，H∞控制器能够满足高速行驶时汽车转向的稳定性和低速行驶时的灵活性要求．

英文摘要：

To improve the performance of four-wheel steering vehicle, an H-infinity controller using 32 bit ARM processor based on real time operation system is realized. Its theoretical model is a two-degree-of-freedom four-wheel steering vehicle, controlled by the combination of feed.forward and feedback. The testing results from model machine show that at higher speed, lateral yaw angle, lateral acceleration and weaving angular velocity overshoot of vehicle are about 2°, 12 m/s^2 and 1.6, respectively. While at lower speed the difference of front and rear tyres in opposite directions is about 10° and the radius of four-wheel steering is 30% smaller than the two-wheel one. So H-infinity controller can ensure stability at higher speed and agility at lower one.