On robust bounded control of the combined wheel slip with integral compensation for an autonomous 4WS4WD vehicle

• Published in: Vehicle system dynamics Vol. 45; no. 5; pp. 477 - 503
• Main Authors: Peng, Shou-Tao, Chang, Chau-Chin, Sheu, Jer-Jia
• Format: Journal Article Conference Proceeding
• Language: English
• Published: Colchester Taylor & Francis 01.05.2007
• Subjects: Applied sciences; Autonomous control; Bounded control; Combined wheel slip; Computer science; control theory; systems; Control theory. Systems; Exact sciences and technology; Machine components; Mechanical engineering. Machine design; Robotics; Singular perturbation theory; Springs and dampers; Autonomous system; Moving robot; Side slip; Singular perturbation; Vehicle dynamics; Frequency control; Perturbation method; Four wheel steering; Uncertain system; Tracking error; Combined wheel slip; Sliding friction; Bounded control; Aerodynamic drag; Pavement; Tracking task; Steady state; Robust control; Tyre; Autonomous control; Singular perturbation theory; Torque control; Four wheel drive; Integral control; Asymptotic approximation; High frequency
• DOI: 10.1080/00423110701316578
• ISSN: 0042-3114

This paper presents a robust bounded controller that prevents an autonomous 4WS4WD vehicle from wheel skidding in presence of uncertainties of both tire/road condition and aerodynamic drag. For eliminating the steady-state error of path tracking, this control scheme incorporates integral compensation into a robust low-and high-gain technique, which in our earlier work has been introduced to achieve the anti-skidding. In comparison, this new proposed scheme ensures the path-tracking error can vanish asymptotically without incurring high-frequency chattering in the control signals. Simulation shows that, under the uncertainty effects, the proposed controller effectively limits the combined wheel slip and achieves the asymptotic path tracking. Moreover, the control inputs of wheel torque and wheel steering are coordinated well in response to this new control scheme.