Force control of two-wheel-steer four-wheel-drive vehicles using model predictive control and sequential quadratic programming for improved path tracking

Abstract

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 of a real-time sequential quadratic programming optimization, the optimal real inputs such as the drive forces and the steering angles are obtained. Note that the system is discretized when designing the control algorithm. The novelty is that all the forces are taken into account in the dynamic model, and the controller uses optimal steering angles and drive forces to obtain the minimum path offset. The integrated algorithms are then used in tracking a predefined path. Simulation results are provided to demonstrate the effectiveness and applicability of the proposed approach.