Model Predictive Control Allocation of an Over-actuated Electric Vehicle with Single Wheel Actuators

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

“…Considering equations (17), (18), and (10) and performing the derivations as above, corresponding formulas are then obtained as follows:…”

“…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.…”

“…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.…”

“…Control inputs were calculated by an online sequential quadratic programming optimization method. Schwartz et al [17] developed a model predictive control allocation algorithm for overactuated electric vehicles with individually steered and driven wheels. In the control design, the tire dynamics, actuator dynamics, and constraints on state variables, as well as input and output variables, were taken into account.…”

“…Despite that great efforts were made and achievements were obtained in early works [8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23], the 4WS4WD vehicle needs to be studied in many aspects, especially in developing a fast, effective, and robust path-following control method. For this purpose, a potential method was developed to determinate steering angles and driving forces of wheels for achieving accurate path-following of the vehicle in previous research of the authors.…”