This paper applies two trajectory tracking controllers for four-wheel independent steering system (4WS) vehicle. For increase the tracking performance those two controller use vehicle position and orientation as a controller input. And the control output is vehicle linear velocity and vehicle angular velocity. And each wheels steering angel and velocity is calculated from vehicle linear velocity and vehicle angular velocity. For the zero-sideslip steering maneuver, first calculate the instantaneous center of rotation (ICR) position, and using the ICR position the wheel steering angle is calculated. It makes the vehicle can put the ICR position in everywhere on the plant. And it means the vehicle is capable of carrying out all moves on a plane. The conformity determination is made using MATLAB/Simulink software.


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    Title :

    Develop Trajectory Tracking Controller for 4WS Vehicle


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Jia, Yingmin (editor) / Zhang, Weicun (editor) / Fu, Yongling (editor) / Cho, Koanhee (author) / Ma, Yue (author) / Zhang, Huimin (author)

    Conference:

    Chinese Intelligent Systems Conference ; 2020 ; Shenzhen City, China October 24, 2020 - October 25, 2020



    Publication date :

    2020-09-30


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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