Trajectory tracking control for four-wheel independent drive intelligent vehicle based on model predictive control and sliding mode control
For four-wheel independent drive intelligent vehicle, the longitudinal and lateral motion control of the vehicle is decoupled and a hierarchical controller is designed: the upper layer is the motion controller, and the lower layer is the control distributor. In the motion controller, the model predi...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2021-09-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/16878140211045142 |