Volume 13, Issue 2 (6-2023)                   ASE 2023, 13(2): 4119-4135 | Back to browse issues page


XML Print


Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Rahmanei H, Aliabadi A, Ghaffari A, Azadi S. A New Trajectory Tracking Framework for Autonomous Vehicles with In-wheel Motors. ASE 2023; 13 (2) :4119-4135
URL: http://www.iust.ac.ir/ijae/article-1-638-en.html
K.N.Toosi University of Technology
Abstract:   (4377 Views)
The coordinated control of autonomous electric vehicles with in-wheel motors is classified as over-actuated control problems requiring a precise control allocation strategy. This paper addresses the trajectory tracking problem of autonomous electric vehicles equipped with four independent in-wheel motors and active front steering. Unlike other available methods presenting optimization formulation to handle the redundancy, in this paper, the constraints have been applied directly using the kinematic relations of each wheel. Four separate sliding mode controllers are designed in such a way that they ensure the convergence of tracking errors, in addition to incorporating the parametric and modeling uncertainties. The lateral controller is also designed to determine the front steering angles to eliminate lateral tracking errors. To appraise the performance of the proposed control strategy, a co-simulation is carried out in MATLAB/Simulink and Carsim software. The results show that the proposed control strategy has enabled the vehicle to follow the reference path and has converged the errors of longitudinal and lateral positions, velocity, heading angle, and yaw rate. Furthermore, the proposed control system shows promising results in the presence of uncertainties including the mass and moment of inertia, friction coefficient, and the wind disturbances.
Full-Text [PDF 2771 kb]   (1849 Downloads)    
Type of Study: Research | Subject: Autonomous vehicles

Add your comments about this article : Your username or Email:
CAPTCHA

Send email to the article author


Rights and permissions
Creative Commons License This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

© 2022 All Rights Reserved | Automotive Science and Engineering

Designed & Developed by : Yektaweb