Path Following Control for Skid Steering Vehicles with Vehicle Speed Adaption Tongji University

Format:

Conference/Event

Author/Creator:

Jin, Jin, author.

Contributor:

Feng, Yuan

Xiong, Lu

Yu, Zhuoping

Conference Name:

SAE 2014 World Congress & Exhibition (2014-04-08 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2014

Summary:

AbstractIn 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

Notes:

Vendor supplied data

Publisher Number:

2014-01-0277

Access Restriction:

Restricted for use by site license