A maneuvering control algorithm based on the independent all-wheel driving and steering control has been proposed to improve the maneuverability and survivability for special purpose 6WD/6WS vehicles. The control algorithm to perform maneuvering, high speed stability, and fault tolerant controls effectively are derived based on high dynamic characteristics of in-wheel motor and advantages of independent steer and drive. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force.
Comments: 7 Pages.
[v1] 2012-10-17 10:58:57
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