scholarly journals Force control of two-wheel-steer four-wheel-drive vehicles using model predictive control and sequential quadratic programming for improved path tracking

2017 ◽  
Vol 14 (6) ◽  
pp. 172988141774629 ◽  
Author(s):  
Qifan Tan ◽  
Xu Wang ◽  
Javad Taghia ◽  
Jayantha Katupitiya
Keyword(s):  
Model Predictive Control ◽  
Quadratic Programming ◽  
Predictive Control ◽  
Force Control ◽  
Sequential Quadratic Programming ◽  
Path Tracking ◽  
Wheel Drive ◽  
Four Wheel Drive

A novel control approach for path tracking of a force-controlled two-wheel-steer four-wheel-drive vehicle

2018 ◽  
Vol 233 (6) ◽  
pp. 1480-1494 ◽  
Author(s):  
Qifan Tan ◽  
Lingling Shi ◽  
Jay Katupitiya
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Path Tracking ◽  
Control Allocation ◽  
Successful Implementation ◽  
Control Approach ◽  
Novel Approach ◽  
Wheel Drive ◽  
Integrator Model ◽  
Four Wheel Drive

This paper presents a novel approach for a force-controlled over-actuated two-wheel-steer four-wheel-drive vehicle to achieve accurate path tracking through control allocation. The control algorithm is developed by combining embedded integrator model predictive control and sequential quadratic programming–based control allocation. Based on the offset model presented in this paper, the model predictive control can generate the virtual accelerations. Using these virtual accelerations in control allocation, the actual control inputs are obtained. The proposed method is then used in a simulation to demonstrate its successful implementation in path tracking.

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