Multi-axle unmanned distributed drive vehicle involves the coordinated control of multiple actuators for stable and safe motion. Aiming at the controlling problem under complicated conditions, this paper proposes an optimal hierarchical torque distribution strategy. A control-oriented dynamic model for an 8× 8 vehicle with rear-wheel-steering is established firstly, then a hierarchical controller combined with linear quadratic regulator and quadratic programming algorithm is presented. Simulation results show that the proposed strategy can realize desired motion tracking control and improve the vehicle's handling stability.
A control allocation strategy of multi-axle unmanned distributed drive vehicle
2021-11-01
787233 byte
Conference paper
Electronic Resource
English
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European Patent Office | 2021
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