Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

Yiping Wang; Xueyuan Li; Qi Liu; Songhao Li; Tian Luan; Zirui Li

doi:10.1007/978-981-99-0479-2_113

Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

Yiping Wang
, Xueyuan Li^*
, Qi Liu
, Songhao Li
, Tian Luan
, Zirui Li

^*此作品的通讯作者

机械与车辆学院

Beijing Institute of Technology
Delft University of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.

源语言	英语
主期刊名	Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
编辑	Wenxing Fu, Mancang Gu, Yifeng Niu
出版商	Springer Science and Business Media Deutschland GmbH
页	1244-1256
页数	13
ISBN（印刷版）	9789819904785
DOI	https://doi.org/10.1007/978-981-99-0479-2_113
出版状态	已出版 - 2023
活动	International Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, 中国期限: 23 9月 2022 → 25 9月 2022

出版系列

姓名	Lecture Notes in Electrical Engineering
卷	1010 LNEE
ISSN（印刷版）	1876-1100
ISSN（电子版）	1876-1119

会议

会议	International Conference on Autonomous Unmanned Systems, ICAUS 2022
国家/地区	中国
市	Xi'an
时期	23/09/22 → 25/09/22

联合国可持续发展目标

此成果有助于实现下列可持续发展目标：

可持续发展目标 7 经济适用的清洁能源

访问文件

10.1007/978-981-99-0479-2_113

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, Y., Li, X., Liu, Q., Li, S., Luan, T., & Li, Z. (2023). Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. 在 W. Fu, M. Gu, & Y. Niu (编辑), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022 (页码 1244-1256). (Lecture Notes in Electrical Engineering; 卷 1010 LNEE). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-99-0479-2_113

Wang, Yiping ; Li, Xueyuan ; Liu, Qi 等. / Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. 编辑 / Wenxing Fu ; Mancang Gu ; Yifeng Niu. Springer Science and Business Media Deutschland GmbH, 2023. 页码 1244-1256 (Lecture Notes in Electrical Engineering).

@inproceedings{101f496b9c034bba98bd617ae278a749,

title = "Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control",

abstract = "The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.",

keywords = "Distributed model predictive control, Formation driving, Lateral and longitudinal control, Skid-steered vehicle",

author = "Yiping Wang and Xueyuan Li and Qi Liu and Songhao Li and Tian Luan and Zirui Li",

note = "Publisher Copyright: {\textcopyright} 2023, Beijing HIWING Sci. and Tech. Info Inst.; International Conference on Autonomous Unmanned Systems, ICAUS 2022 ; Conference date: 23-09-2022 Through 25-09-2022",

year = "2023",

doi = "10.1007/978-981-99-0479-2\_113",

language = "English",

isbn = "9789819904785",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Science and Business Media Deutschland GmbH",

pages = "1244--1256",

editor = "Wenxing Fu and Mancang Gu and Yifeng Niu",

booktitle = "Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022",

address = "Germany",

}

Wang, Y, Li, X, Liu, Q, Li, S, Luan, T & Li, Z 2023, Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. 在 W Fu, M Gu & Y Niu (编辑), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. Lecture Notes in Electrical Engineering, 卷 1010 LNEE, Springer Science and Business Media Deutschland GmbH, 页码 1244-1256, International Conference on Autonomous Unmanned Systems, ICAUS 2022, Xi'an, 中国, 23/09/22. https://doi.org/10.1007/978-981-99-0479-2_113

Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. / Wang, Yiping; Li, Xueyuan; Liu, Qi 等.
Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. 编辑 / Wenxing Fu; Mancang Gu; Yifeng Niu. Springer Science and Business Media Deutschland GmbH, 2023. 页码 1244-1256 (Lecture Notes in Electrical Engineering; 卷 1010 LNEE).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

AU - Wang, Yiping

AU - Li, Xueyuan

AU - Liu, Qi

AU - Li, Songhao

AU - Luan, Tian

AU - Li, Zirui

PY - 2023

Y1 - 2023

N2 - The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.

AB - The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.

KW - Distributed model predictive control

KW - Formation driving

KW - Lateral and longitudinal control

KW - Skid-steered vehicle

UR - https://www.scopus.com/pages/publications/85151053717

U2 - 10.1007/978-981-99-0479-2_113

DO - 10.1007/978-981-99-0479-2_113

M3 - Conference contribution

AN - SCOPUS:85151053717

SN - 9789819904785

T3 - Lecture Notes in Electrical Engineering

SP - 1244

EP - 1256

BT - Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022

A2 - Fu, Wenxing

A2 - Gu, Mancang

A2 - Niu, Yifeng

PB - Springer Science and Business Media Deutschland GmbH

T2 - International Conference on Autonomous Unmanned Systems, ICAUS 2022

Y2 - 23 September 2022 through 25 September 2022

ER -

Wang Y, Li X, Liu Q, Li S, Luan T, Li Z. Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. 在 Fu W, Gu M, Niu Y, 编辑, Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. Springer Science and Business Media Deutschland GmbH. 2023. 页码 1244-1256. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-0479-2_113

Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

摘要

出版系列

会议

联合国可持续发展目标

访问文件

其它文件与链接

学术指纹

引用此