A Novel Motion Control For Ground Vehicles With 4 Independent Wheel Agents
2019 IEEE 28TH INTERNATIONAL SYMPOSIUM ON INDUSTRIAL ELECTRONICS (ISIE)(2019)
Abstract
Motion control for ground vehicles has been widely investigated to guarantee their stability and ride comfort. However, to further improve the manoeuvrability of ground vehicles, the 4-independent-wheel vehicles overpass the conventional vehicles for their wheels' independent controllability. Although the existing hierarchy control scheme for 4-independent-wheel vehicles can guarantee the stability and manoeuvrability simultaneously, the control scheme is rather complicated and the involving effort allocation is time consuming. Hence this paper proposed a straightforward way to control the 4 independent wheels directly independently without involving the complicated hierarchy scheme, and the effectiveness is verified through both rectilinear and steering manoeuvres.
MoreTranslated text
Key words
vehicle motion control, ground vehicles, 4 independent wheel agents, tire slip model, slip ratio controller
AI Read Science
Must-Reading Tree
Example
![](https://originalfileserver.aminer.cn/sys/aminer/pubs/mrt_preview.jpeg)
Generate MRT to find the research sequence of this paper
Chat Paper
Summary is being generated by the instructions you defined