Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle
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The aim of this paper is to present a novel approach to enable a four-wheel steer four-wheel drive (4WS4WD) vehicle to follow a predefined path under force control. The novelty is in the combination of a sliding mode controller that determines the steering angles using a kinematic model and a real-time particle swarm optimization based controller that determines the drive torques using a dynamic model. The dynamic model takes into account all the slip forces acting on the vehicle. The combined controllers are then used to drive the 4WS4WD vehicle to follow a path. In order to enable the implementation of the controllers, the path to be followed is generated using 7-order Bézier curves that can provide smooth kinematic and dynamic reference profiles. Simulation results are provided to demonstrate the applicability of the proposed methodology and its robustness.
KeywordsGround vehicle Path generation Sliding mode control PSO Force control
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