Differential Steering News Today : Breaking News, Live Updates & Top Stories | Vimarsana

Abstract For 4MIDEV with differential steering, the trajectory tracking multi-objective control method is studied. The dynamics model of the four-in-wheel motor independent-drive vehicle (4MIDEV) is established comprehensively considering the differential steering dynamics characteristics, longitudinal dynamics characteristics, and lateral dynamics characteristics. Takagi Sugeno (T-S) fuzzy method is adopted to deal with the nonlinear and time-varying characteristics of the model parameters such as vehicle longitudinal speed and the front steering wheel angle. The trajectory tracking control targets are divided into the kinematic control target considering the trajectory tracking accuracy and the dynamics control target considering longitudinal speed tracking as well as lateral stability performance. The generalized H {2 norm and H {∞ norm are selected to constrain the kinematic control target and the dynamics control target respectively. The generalized H {2}/H {∞ trajectory tr ....

Takagi Sugeno , Differential Steering , Our In Wheel Motor Drive Vehicle , Ulti Objective Control , S Fuzzy , Trajectory Tracking ,