LQR based drift tracking control strategy for 4WID-4WIS vehicles

In this paper, we propose a control strategy for LQR drift tracking based on 4WID-4WIS(four-wheel independent drive, four-wheel independent steering) kinematics model. Firstly, the 4WID-4WIS vehicle's kinematic model is established. Secondly, a simple linear tracking error model is obtained by using first-order Taylor expansion for approximate linearization. Ultimately, the tracking controller is designed using the LQR method in accordance with the linear model, and the optimal control input is found to achieve the drift tracking control of the 4WID-4WIS vehicle. In order to verify the effectiveness of the tracking controller, a 4WID-4WIS vehicle model is established in CoppeliaSim, and a co-simulation experiment platform is formed with ROS to conduct co-simulation experiments on two distinct paths. The results show that the reference path and the reference sideslip angle can be tracked, that is, the vehicle's drift tracking control, so as to confirm the drift tracking control strategy's efficacy, as proposed in this paper.