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Copyright © 2021 Zhonghua Zhang et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0/

Abstract

This paper deals with a four-wheel-steering four-wheel-driving (4WS4WD) vehicle under the path-following control. Focuses are placed on the motion control of the vehicle, and the drive forces and steering angles for achieving accurate path-following by the vehicle are determined. In this research, a nonlinear vehicle model of three degrees of freedom (DOFs) is used. The vehicle path-following dynamics are modeled using the classical mass-damper-spring vibration theory, which is described by three ordinary differential equations of second order with lateral, heading and velocity deviations, and control parameters. Combined with the vehicle path-following dynamic model, the nonlinear vehicle dynamic model is decoupled in generalized coordinate space. The required drive forces and steering angles for the vehicle path-following controllers are thus calculated and control models are obtained. Theoretical analysis for steering and driving control models is also carried out. It discloses that control models can maintain good performance against uncertainties. The vehicle path-following control is exhibited by dynamic simulation in CarSim with consideration of a complex vehicle model and a variable-curvature planned path. Numerical results obtained are analyzed and show control models have capable of dealing with a complex path-following problem. This paper provides a new insight into understanding path-following control of a 4WS4WD vehicle at the generalized vibration level.

Details

Title
Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models
Author
Zhang, Zhonghua 1   VIAFID ORCID Logo  ; Yang, Caijin 1   VIAFID ORCID Logo  ; Zhang, Weihua 1 ; Xu, Yanhai 2 ; Peng, Yiqiang 2 ; Maoru Chi 1   VIAFID ORCID Logo 

 State Key Laboratory of Traction Power, Southwest Jiaotong University, Chengdu 610031, China 
 School of Transportation and Automotive Engineering, Xihua University, Chengdu 610039, China 
Editor
Abdullah Seçgin
Publication year
2021
Publication date
2021
Publisher
John Wiley & Sons, Inc.
ISSN
10709622
e-ISSN
18759203
Source type
Scholarly Journal
Language of publication
English
ProQuest document ID
2480125398
Copyright
Copyright © 2021 Zhonghua Zhang et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0/