モデル予測制御とスライディングモード制御による四輪操舵駆動車両のロバスト経路追従制御

抄録

This paper investigates a robust path tracking control for four-wheel driving and steering vehicles. The proposed integrated control system aims at high maneuverability and robustness. The proposed controller is applied to the path tracking problem which is formulated utilizing time state control form. The inputs for path tracking are calculated by model predictive control considering the friction circle to realize the path-following. In addition, using sliding mode control, the proposed control system is robust against external disturbance or uncertainties which satisfy the matching condition. The approximated tire force usage rate is introduced in order to balance path-following performance and the robustness. The efficiency of the proposed control system is demonstrated through numerical simulations.