TY - GEN
T1 - A novel motion control for ground vehicles with 4 independent wheel agents
AU - Zhang, Jinhua
AU - Yu, Xinghu
AU - Zeng, Ming
AU - Sun, Weichao
AU - Liu, Zhiyuan
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/6
Y1 - 2019/6
N2 - 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.
AB - 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.
KW - 4 independent wheel agents
KW - ground vehicles
KW - slip ratio controller
KW - tire slip model
KW - vehicle motion control
UR - https://www.scopus.com/pages/publications/85070630186
U2 - 10.1109/ISIE.2019.8781265
DO - 10.1109/ISIE.2019.8781265
M3 - 会议稿件
AN - SCOPUS:85070630186
T3 - IEEE International Symposium on Industrial Electronics
SP - 2142
EP - 2146
BT - Proceedings - 2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 28th IEEE International Symposium on Industrial Electronics, ISIE 2019
Y2 - 12 June 2019 through 14 June 2019
ER -