By Topic

On One Approach to Constraining the Combined Wheel Slip in the Autonomous Control of a 4WS4WD Vehicle

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Shou-Tao Peng ; Dept. of Mech. Eng., Southern Taiwan Univ. of Technol., Tainan

This paper presents an approach of wheel slip constraint in controlling an autonomous four-wheeled steering and four-wheeled drive (4WS4WD) vehicle. This approach regards the quasi-steady state of the combined wheel slips as the target to limit. We introduce a control structure of wheel torque and wheel steering to transform the original constrained tracking problem to that of state regulation with norm-bounded control. For the transformed problem, an integral compensation with low-and-high gain technique is exploited to simultaneously eliminate steady-state error of the path tracking and enhance utilization of the constrained wheel slip. Simulation shows that the proposed scheme effectively renders the vehicle tracking along reference path within a prespecified threshold of wheel slip. Besides, a harmonious coordination between the wheel torque and wheel steering can be provided during the cornering control

Published in:

Control Systems Technology, IEEE Transactions on  (Volume:15 ,  Issue: 1 )