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- W2209932770 abstract "Abstract Constraining wheel slip can be applied to avoid vehicle skidding, especially on a slippery road. This paper presents an approach of constraining wheel slip for automatic path tracking control of 4WS/4WD vehicles. The approach integrates and limits the quasi-steady state of both the longitudinal and lateral wheel slips. A new control structure of wheel torque and wheel steering is proposed to transform the original constraint-tracking problem to that of state regulation with input constraint. For the transformed problem, a low-and-high gain technique and an integral compensator are introduced to construct the constrained controller, so that the utilization of the constrained wheel slip can be enhanced and the steady state error of tracking can be eliminated. Simulation shows that, on the snow road condition, the proposed scheme can render the 4WS/4WD vehicle tracking along the desired path within a prescribed threshold of wheel slip, and can provide satisfactory coordination between wheel torque and wheel steering" @default.
- W2209932770 created "2016-06-24" @default.
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- W2209932770 date "2004-07-01" @default.
- W2209932770 modified "2023-09-26" @default.
- W2209932770 title "An approach of constraining wheel slip for automatic path tracking control of 4WS/4WD vehicles" @default.
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- W2209932770 doi "https://doi.org/10.1016/s1474-6670(17)31967-5" @default.
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