Path Following Control for Skid Steering Vehicles with Vehicle Speed Adaption
Path Following Control for Skid Steering Vehicles with Vehicle Speed Adaption
- New search for: Jin, Chi
- New search for: Xiong, Lu
- New search for: Feng, Yuan
- New search for: Yu, Zhuoping
- New search for: Jin, Chi
- New search for: Xiong, Lu
- New search for: Feng, Yuan
- New search for: Yu, Zhuoping
In this paper we present a path following control design for a six-wheel skid-steering vehicle. Contrary to the common approaches that impose non-holonomic constraints, a dynamic vehicle model is established based on a pseudo-static tire model, which uses tire slip to determine tire forces. Our control system admits a modular structure, where a motion controller computes the reference vehicle yaw rate and reference vehicle speed and a dynamics controller tracks these signals. A robust nonlinear control law is designed to track the reference wheel speeds determined by the dynamics controller with proved stability properties. Saturated control techniques are employed in designing the reference yaw rate, which ensures the magnitude of the reference yaw rate does not violate the constraint from the ground-tire adhesion. The simulation results demonstrate the effectiveness of the proposed path following control design.
Document information
Path Following Control for Skid Steering Vehicles with Vehicle Speed Adaption
Sae Technical Papers
SAE 2014 World Congress & Exhibition ; 2014
2014-04-01
Conference paper
English
Similar titles
Path Following Control for Skid Steering Vehicles with Vehicle Speed Adaption
| British Library Conference Proceedings | 2014
Path Following of Skid Steering Vehicles Based on Line-of-Sight Navigation
| British Library Conference Proceedings | 2016
Path Following of Skid Steering Vehicles Based on Line-of-Sight Navigation
| SAE Technical Papers | 2016