Force control of two-wheel-steer four-wheel-drive vehicles using model predictive control and sequential quadratic programming for improved path tracking
This article proposes a novel approach for the two-wheel-steer four-wheel-drive vehicle path tracking based on force control. Both the kinematic and dynamic models are used to calculate the virtual inputs based on a model predictive control algorithm. By using these virtual inputs as the constraints...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2017-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881417746295 |