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Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle

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Abstract

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.

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Authors and Affiliations

  1. School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, NSW, 2052, Australia

    Penglei Dai, Javad Taghia, Stanley Lam & Jay Katupitiya

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  1. Penglei Dai
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  2. Javad Taghia
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  3. Stanley Lam
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  4. Jay Katupitiya
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Correspondence to Penglei Dai.

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Dai, P., Taghia, J., Lam, S. et al. Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle. Auton Robot 42, 553–568 (2018). https://doi.org/10.1007/s10514-017-9649-6

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  • DOI: https://doi.org/10.1007/s10514-017-9649-6

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