A control scheme for automatic path tracking of vehicles subject to wheel slip constraint

• Published in: 2004 American Control Conference Proceedings; Volume 1 of 6 Vol. 1; pp. 804 - 809 vol.1
• Main Authors: PENG, Shou-Tao, SHEU, Jer-Jia, CHANG, Chau-Chin
• Format: Conference Proceeding Journal Article
• Language: English
• Published: Piscataway NJ IEEE 01.01.2004; Evanston IL American Automatic Control Council
• Subjects: Applied sciences; Automatic control; Computer science; control theory; systems; Control system synthesis; Control theory. Systems; Exact sciences and technology; Friction; Immune system; Kinematics; Mechanical engineering; Modelling and identification; Roads; Torque control; Vectors; Vehicle driving; Wheels; Perturbation theory; Wheel; Target tracking; Tracking; Side slip; Singular perturbation; Saturation; Control synthesis; Steady state; Tyre; Perturbation method; Friction; Input to state stability; Torque control; Steering wheel; Vehicle direction; Automatic control; Reduced order systems; Road traffic; Slip angle; Linear perturbation; Linearization
• ISBN: 9780780383357; 0780383354
• ISSN: 0743-1619
• DOI: 10.23919/ACC.2004.1383704

We present a control scheme for automatic path tracking of a four-wheeled steering and four-wheeled drive (4WS4WD) vehicle subject to wheel slip constraint. The wheel slip, containing wheel slip ratio in longitudinal direction and slip angle in lateral direction, is a vector that serves as an index to avoid the tire-road friction saturation. Using linearization and singular perturbation theory, a linear and order-reduced design model is obtained, and the wheel slip is replaced by its quasi-steady state for the controller design. We propose a control structure of wheel torque and steering to transform the original tracking problem to a problem of state regulation subject to input constraint. A low-and-high gain technique is applied to construct the constrained controller and to enhance the utilization of the constrained wheel slip. Simulation shows that the new proposed control, scheme subject to wheel slip constraint coordinates well between wheel steering and wheel torque during tracking.