Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle

Dai, P; Taghia, J; Lam, S; Katupitiya, J

Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle

Dai, P

Taghia, J Lam, S Katupitiya, J

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Publication Type:: Journal Article
Citation:: Autonomous Robots, 2018, 42 (3), pp. 553 - 568
Issue Date:: 2018-03-01

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Field	Value	Language
dc.contributor.author	Dai, P https://orcid.org/0000-0003-0377-0775	en_US
dc.contributor.author	Taghia, J	en_US
dc.contributor.author	Lam, S	en_US
dc.contributor.author	Katupitiya, J	en_US
dc.date.issued	2018-03-01	en_US
dc.identifier.citation	Autonomous Robots, 2018, 42 (3), pp. 553 - 568	en_US
dc.identifier.issn	0929-5593	en_US
dc.identifier.uri	http://hdl.handle.net/10453/132557
dc.description.abstract	© 2017, Springer Science+Business Media, LLC. The aim of this paper is to present a novel approach to enable a four-wheel steer four-wheel drive (4WS4WD) vehicle to follow a predefined path under force control. The novelty is in the combination of a sliding mode controller that determines the steering angles using a kinematic model and a real-time particle swarm optimization based controller that determines the drive torques using a dynamic model. The dynamic model takes into account all the slip forces acting on the vehicle. The combined controllers are then used to drive the 4WS4WD vehicle to follow a path. In order to enable the implementation of the controllers, the path to be followed is generated using 7-order Bézier curves that can provide smooth kinematic and dynamic reference profiles. Simulation results are provided to demonstrate the applicability of the proposed methodology and its robustness.	en_US
dc.relation.ispartof	Autonomous Robots	en_US
dc.relation.isbasedon	10.1007/s10514-017-9649-6	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Integration of sliding mode based steering control and PSO based drive force control for a 4WS4WD vehicle	en_US
dc.type	Journal Article
utslib.citation.volume	3	en_US
utslib.citation.volume	42	en_US
utslib.for	0801 Artificial Intelligence and Image Processing	en_US
utslib.for	1702 Cognitive Sciences	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
utslib.copyright.status	closed_access	*
pubs.issue	3	en_US
pubs.publication-status	Published	en_US
pubs.volume	42	en_US

Abstract:

© 2017, Springer Science+Business Media, LLC. The aim of this paper is to present a novel approach to enable a four-wheel steer four-wheel drive (4WS4WD) vehicle to follow a predefined path under force control. The novelty is in the combination of a sliding mode controller that determines the steering angles using a kinematic model and a real-time particle swarm optimization based controller that determines the drive torques using a dynamic model. The dynamic model takes into account all the slip forces acting on the vehicle. The combined controllers are then used to drive the 4WS4WD vehicle to follow a path. In order to enable the implementation of the controllers, the path to be followed is generated using 7-order Bézier curves that can provide smooth kinematic and dynamic reference profiles. Simulation results are provided to demonstrate the applicability of the proposed methodology and its robustness.

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http://hdl.handle.net/10453/132557