Nonlinear Tyre Inverse Model for 4WIS/4WID Vehicle Trajectory Tracking Control

Trajectory tracking controllers for four-wheel-independent-steering and driving vehicles are generally designed in a three-layer structure: the first and second layer determines the desired tyre force of each tyre, and the third layer computes the actuator commands to generate this tyre force through inverse tyre model. Such inverse tyre models should be in an analytic form for real-time performance and as accurate as possible. This paper presents the closed-form inverse solution of the brush tyre model with the similarity method. Comparisons to current best practices show that the proposed inverse tyre model improves the overall accuracy, especially in combined-slip operating regions. Besides, this inverse tyre model can also be adopted by other vehicle configurations and other vehicle dynamics control applications.