Abstract
In this paper, for four wheel steering and driving vehicles, a model predictive path tracking control with robustness with respect to external unknown disturbance is proposed. Vehicle dynamics are constrained onto the sliding mode so that unknown external disturbance does not affect the performance of the system. Then nonlinear vehicle dynamics are transformed into time-state control form, and linearized so that the model predictive control is computed faster. The proposed method is applied to the tasks of the JSAE-SICE benchmark problem and its advantage is numerically proved.
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