Abstract
This paper presents a fully dynamic model based control algorithm for the path tracking of four-wheel-steer four-wheel-drive (4WS4WD) vehicle. The modeling of 4WS4WD vehicle indicates that the vehicle has a higher control flexibility which can provide a better performance in overcoming the force disturbances from the ground. By combining the model predictive control (MPC) and control allocation, the over-actuated system is decoupled and the accurate path tracking is achieved. Simulation results are provided to validate the proposed methodology.
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