Abstract
A simple, stable, and robust path following controller is derived for 4WS vehicles. Front and rear viewpoints are defined as centers of percussion of rear and front wheels, respectively. The controller uses the two viewpoints as datum points to determine course errors. Front and rear course errors follow second order differential equations, where the yaw rate and vehicle body slip angle are inputs to the equations. The controller can cope with unknown cornering power parameters. Steady state values are derived from the lock-on capability. Simulation results on a packed-snow road are given for the controller assuming dry asphalt parameters.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
