TY - JOUR
T1 - A novel control approach for path tracking of a force-controlled two-wheel-steer four-wheel-drive vehicle
AU - Tan, Qifan
AU - Shi, Lingling
AU - Katupitiya, Jay
N1 - Publisher Copyright:
© IMechE 2018.
PY - 2019/5/1
Y1 - 2019/5/1
N2 - This paper presents a novel approach for a force-controlled over-actuated two-wheel-steer four-wheel-drive vehicle to achieve accurate path tracking through control allocation. The control algorithm is developed by combining embedded integrator model predictive control and sequential quadratic programming–based control allocation. Based on the offset model presented in this paper, the model predictive control can generate the virtual accelerations. Using these virtual accelerations in control allocation, the actual control inputs are obtained. The proposed method is then used in a simulation to demonstrate its successful implementation in path tracking.
AB - This paper presents a novel approach for a force-controlled over-actuated two-wheel-steer four-wheel-drive vehicle to achieve accurate path tracking through control allocation. The control algorithm is developed by combining embedded integrator model predictive control and sequential quadratic programming–based control allocation. Based on the offset model presented in this paper, the model predictive control can generate the virtual accelerations. Using these virtual accelerations in control allocation, the actual control inputs are obtained. The proposed method is then used in a simulation to demonstrate its successful implementation in path tracking.
KW - Autonomous ground vehicle
KW - model predictive control
KW - precision path tracking
KW - sequential quadratic programming
KW - vehicle force control
UR - http://www.scopus.com/inward/record.url?scp=85045045462&partnerID=8YFLogxK
U2 - 10.1177/0954407018760433
DO - 10.1177/0954407018760433
M3 - Article
AN - SCOPUS:85045045462
SN - 0954-4070
VL - 233
SP - 1480
EP - 1494
JO - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
JF - Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering
IS - 6
ER -