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中文摘要：
采用ADAMS／Car软件建立了四轮转向车辆虚拟样机模型，设计了一种车辆横摆角速度反馈与神经网络自适应的混合控制系统，有效解决了轮胎大侧偏角下的非线性问题，使神经网络权系数的在线修正速度快，难度低，赋予系统自适应能力。理论分析和仿真结果表明，所构建的四轮转向车辆混合控制系统是可行的，所采用的ADAMS与MATLAB联合仿真方法是有效的。
英文摘要：
A virtual prototype model for four-wheel-steering vehicle is built with ADAMS/Car software and a hybrid control system is designed based on yaw rate feedback and neural network adaptive control. The system ef- fectively solves the nonlinear problem of tire at large sideslip angle, speeds up and facilitates the on-line correction of weighting coefficients of neural network and endows the system with self-adaptive ability. The results of theoretical analysis and simulation show that the hybrid control system built for four-wheel,steering vehicle is feasible and the ADAMS / MATLAB co-simulation method adopted is effective.
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