NDLI: A Hierarchical Model Predictive Tracking Control for Independent Four-Wheel Driving/Steering Vehicles with Coaxial Steering Mechanism

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A Hierarchical Model Predictive Tracking Control for Independent Four-Wheel Driving/Steering Vehicles with Coaxial Steering Mechanism

Content Provider	Scilit
Author	Itoh, Masato Hagimori, Yuki Nonaka, Kenichiro Sekiguchi, Kazuma
Copyright Year	2016
Description	Journal: Journal of Physics: Conference Series In this study, we apply a hierarchical model predictive control to omni-directional mobile vehicle, and improve the tracking performance. We deal with an independent four-wheel driving/steering vehicle (IFWDS) equipped with four coaxial steering mechanisms (CSM). The coaxial steering mechanism is a special one composed of two steering joints on the same axis. In our previous study with respect to IFWDS with ideal steering, we proposed a model predictive tracking control. However, this method did not consider constraints of the coaxial steering mechanism which causes delay of steering. We also proposed a model predictive steering control considering constraints of this mechanism. In this study, we propose a hierarchical system combining above two control methods for IFWDS. An upper controller, which deals with vehicle kinematics, runs a model predictive tracking control, and a lower controller, which considers constraints of coaxial steering mechanism, runs a model predictive steering control which tracks the predicted steering angle optimized an upper controller. We verify the superiority of this method by comparing this method with the previous method.
Related Links	http://iopscience.iop.org/article/10.1088/1742-6596/744/1/012222/pdf
ISSN	17426588
e-ISSN	17426596
DOI	10.1088/1742-6596/744/1/012222
Journal	Journal of Physics: Conference Series
Volume Number	744
Language	English
Publisher	IOP Publishing
Publisher Date	2016-09-01
Access Restriction	Open
Subject Keyword	Journal: Journal of Physics: Conference Series Transportation Science and Technology Model Predictive Tracking Control Coaxial Steering Mechanism
Content Type	Text
Resource Type	Article
Subject	Physics and Astronomy

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