@inproceedings{30516eb5dd494f85990eb0c6b3a04d78,
title = "Develop Trajectory Tracking Controller for 4WS Vehicle",
abstract = "This paper applies two trajectory tracking controllers for four-wheel independent steering system (4WS) vehicle. For increase the tracking performance those two controller use vehicle position and orientation as a controller input. And the control output is vehicle linear velocity and vehicle angular velocity. And each wheels steering angel and velocity is calculated from vehicle linear velocity and vehicle angular velocity. For the zero-sideslip steering maneuver, first calculate the instantaneous center of rotation (ICR) position, and using the ICR position the wheel steering angle is calculated. It makes the vehicle can put the ICR position in everywhere on the plant. And it means the vehicle is capable of carrying out all moves on a plane. The conformity determination is made using MATLAB/Simulink software.",
keywords = "Backstepping method, Four-wheel independent steering vehicle, Trajectory tracking, U-model",
author = "Koanhee Cho and Yue Ma and Huimin Zhang",
note = "Publisher Copyright: {\textcopyright} 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; Chinese Intelligent Systems Conference, CISC 2020 ; Conference date: 24-10-2020 Through 25-10-2020",
year = "2021",
doi = "10.1007/978-981-15-8458-9_63",
language = "English",
isbn = "9789811584572",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "594--601",
editor = "Yingmin Jia and Weicun Zhang and Yongling Fu",
booktitle = "Proceedings of 2020 Chinese Intelligent Systems Conference - Volume II",
address = "Germany",
}