Trajectory tracking control is the basis of the intelligent and practical application of unmanned ground vehicle, and a well-designed trajectory tracking controller is the key to realize unmanned driving. Based on the 7-DOF vehicle dynamics model and the UniTire model, a trajectory tracking control algorithm based on MPC is proposed for skid steering unmanned vehicle with on low adhesion road. And the effectiveness of trajectory tracking control is proved by CarSim /Simulink co-simulation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Zhang, Zhenyuan (editor) / Fan, Zeng (author) / Li, Xueyuan (author) / Zhu, Yuzheng (author) / Hao, Bin (author) / Li, Songhao (author) / Zhou, Tong (author)

    Conference:

    International Conference on Intelligent Transportation Engineering ; 2021 ; Beijing, China October 29, 2021 - October 31, 2021



    Publication date :

    2022-06-01


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Research on Trajectory Tracking Control of Skid Steering Vehicle Based on Model Predictive Control

    Fan, Zeng / Li, Xueyuan / Zhu, Yuzheng et al. | British Library Conference Proceedings | 2022



    Tire-Model-Free Control for Steering of Skid Steering Vehicle

    Meng, Haolan / Xiong, Lu / Gao, Letian et al. | IEEE | 2018


    CONTROL SYSTEM OF SKID STEERING VEHICLE

    PISTSOV ROMAN YUREVICH / TRUSOV RUSLAN ANDREEVICH | European Patent Office | 2019

    Free access

    TIRE-MODEL-FREE CONTROL FOR STEERING OF SKID STEERING VEHICLE

    Meng, Haolan / Xiong, Lu / Gao, Letian et al. | British Library Conference Proceedings | 2018