Force control for path following of a 4WS4WD vehicle by the integration of PSO and SMC

Dai, Penglei; Katupitiya, Jayantha

doi:10.1080/00423114.2018.1435888

Cited by 43 publications

(17 citation statements)

References 20 publications

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“…where k is a user-defined coefficient that can be used for operating model configuration. For example, by specifying 1 k = , the turning radius under double-Ackerman mode can be decreased by 35%, enhancing the practicability and superiority for desired profiles with distinct curvature vibrations [37]. Without loss of generality, we define In general, the tire concerning stiffness is affected by weight transfer.…”

Section: A System Modellingmentioning

confidence: 99%

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

et al. 2020

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Profiting from its remarkable maneuverability and efficiency, the four-wheeled autonomous mobile robot (FAMR) is appealing for intelligent manufacturing and automation applications. However, the suppression of unknown disturbances and system uncertainties remains a challenge for formulating a precise trajectory-tracking control scheme. This paper achieves the anti-disturbance direct yaw moment control of a developed FAMR by proposing a robust super-twisting sliding mode controller (RSSMC) to enhance the dynamic tracking and disturbance rejection property simultaneously. One of the major contributions is that the presented RSSMC method is constructed with a novel reaching law to eliminate the matched perturbations and time-varying lumped disturbances. As another distinguishing feature, this method is capable of driving the resultant FAMR trajectory into a bounded switching region and maintaining it therein for subsequent periods in finite time. To guarantee the closed-loop stability and finite-time convergence, new sufficient conditions for specifying the variable gains are determined utilizing Lyapunov functions. Finally, under the direct yaw moment control framework, simulation experiments of a developed FAMR system are offered to verify the practicability of the RSSMC scheme.

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Section: A System Modellingmentioning

confidence: 99%

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

et al. 2020

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“…The inclusion of full independent force control and steering control on all four wheels enable the maximization of performance. In this work, comparison of MPC and PSO on the same vehicle model is provided, in which the proposed PSO control methodology is a further refinement of the PSO methodology presented previously in [18]. The PSO control methodology in this paper simplifies the derivation and gives an algorithm in a more general form, which facilitates the comparison with other control methods.…”

Section: Force Sensor Driving Unitmentioning

confidence: 99%

MPC and PSO Based Control Methodology for Path Tracking of 4WS4WD Vehicles

et al. 2018

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Four wheel steering and four wheel drive (4WS4WD) vehicles are over-actuated systems with superior performance. Considering the control problem caused by the system nonlinearity and over-actuated characteristics of the 4WS4WD vehicle, this paper presents two methods to enable a 4WS4WD vehicle to accurately follow a predefined path as well as its reference trajectories including velocity and acceleration profiles. The methodologies are based on model predictive control (MPC) and particle swarm optimization (PSO), respectively. The MPC method generates the virtual inputs in the upper controller and then allocates the actual inputs in the lower controller using sequential quadratic programming (SQP), whereas the PSO method is proposed as a fully optimization based method for comparison. Both methods achieve optimization of the steering angles and wheel forces for each of four independent wheels simultaneously in real time. Simulation results achieved by two different controllers in following the reference path with varying disturbances are presented. Discussion about two methodologies is provided based on their theoretical analysis and simulation results.

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“…Due to outstanding maneuvering and acceleration performances, the 4WS4WD vehicles [1,2] have been received attentions from researchers and engineers in recent years. Major concerns are motion controls of these overactuated vehicles, e.g., lateral stability control [3][4][5][6][7] and autonomous path-following control [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23]. Vehicle lateral control systems can help the drivers to change the lanes safely or assist them in performing evasive maneuvers.…”

Section: Introductionmentioning

confidence: 99%

“…Early relevant studies were concerned with 4WS4WD mobile robots, which were based on the kinematics models without dynamic effects and under the assumption that the wheeled robot operated at low speeds and low accelerations [8][9][10]. Later on, researchers resumed the vehicle path-following problem [11][12][13][14][15][16][17][18][19][20][21][22][23] using various control methods, e.g., the proportional-integral-derivative (PID), model predictive control (MPC), fault tolerant control (FTC), and convex optimization. Dai and Katupitiya [11] designed the driving controller and steering controller for the 4WS4WD vehicles in the PID law.…”

Section: Introductionmentioning

confidence: 99%

Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

Zhang

Yang

Zhang

et al. 2021

Shock and Vibration

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Further research on motion control of a 4WS4WD path-following vehicle is carried out in this paper. Focuses are placed on understanding and testing the vehicle path-following control models developed previously at a deep level. Control models are in relation to parameters introduced, and the effects of these parameters are discovered. Control models are interpreted by dynamic simulation using a 3DOF vehicle model with three cases. Three kinds of planned paths are considered in these cases to test control performances, which include the straight, circular, and sinusoidal paths. Interesting dynamic results are obtained and analyzed qualitatively, e.g., various steering modes. Simulation studies are extended with consideration of a fine vehicle dynamic model established in CarSim and a complex path composed of straight and curved segments. Control models are examined in a complex problem, and results obtained show that they are validated with robustness in dynamic environment.

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Force control for path following of a 4WS4WD vehicle by the integration of PSO and SMC

Cited by 43 publications

References 20 publications

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

Anti-Disturbance Direct Yaw Moment Control of a Four-Wheeled Autonomous Mobile Robot

MPC and PSO Based Control Methodology for Path Tracking of 4WS4WD Vehicles

Motion Control of a 4WS4WD Path‐Following Vehicle: Further Studies on Steering and Driving Models

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