In this paper we present a control scheme for automatic path tracking of a four-wheeled steering and four-wheeled drive (4WS4WD) vehicle subject to wheel slip constraint. The wheel slip, containing wheel slip ratio in longitudinal direction and slip angle in lateral direction, is a vector that serves as an index to avoid the tire-road friction saturation. Using linearization and singular perturbation theory, a linear and order-reduced design model is obtained, and the wheel slip is replaced by its quasi-steady state for the controller design. We propose a control structure of wheel torque and steering to transform the original tracking problem to a problem of state regulation subject to input constraint. A low-and-high gain technique is applied to construct the constrained controller and to enhance the utilization of the constrained wheel slip. Simulation shows that the new proposed control, scheme subject to wheel slip constraint coordinates well between wheel steering and wheel torque during tracking.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A control scheme for automatic path tracking of vehicles subject to wheel slip constraint


    Contributors:

    Published in:

    Publication date :

    2004


    Size :

    6 Seiten, 8 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Wheel slip based motion control for heavy vehicles

    BORA TEODORO / RAGNAT VIKTOR / SALIF RAMADHAN | European Patent Office | 2024

    Free access

    Fuzzy path tracking control for automatic steering of vehicles

    El Hajjaji, A. / Bentalba, S. | Tema Archive | 2003


    Longitudinal wheel-slip control for four wheel independent steering and drive vehicles

    Lam, Tin Lun / Qian, Huihuan / Xu, Yangsheng | IEEE | 2014


    WHEEL SLIP-BASED MOTION CONTROL FOR HEAVY-DUTY VEHICLES

    BORA TEODORO / LÄGNERT VIKTOR / SALIF RAMADAN | European Patent Office | 2023

    Free access

    Investigation of automatic path tracking control using four-wheel steering vehicle

    Raksincharoensak, P. / Nagai, M. / Mouri, H. | IEEE | 2001