"Multi-Objective Comprehensive Control of Trajectory Tracking for Four-" by Hongbo Wang, Chenglei Hu et al.
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 ...
Source: uow.edu.au