2021
DOI: 10.25165/j.ijabe.20211402.5283
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Model predictive control system based on direct yaw moment control for 4WID self-steering agriculture vehicle

Abstract: A model predictive control (MPC) approach based on direct yaw moment control (DYC) was proposed to realize the self-steering drive for a newly autonomous four-wheel independent-drive (4WID) agricultural electric vehicle. The front axle and rear axle of the vehicle chassis could rotate simultaneously around their respective center points and cut the turning radius in half at most through specific mechanical chassis structure design and four-wheel electrical drive. It had great potential to reduce wheel traffic … Show more

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Cited by 8 publications
(5 citation statements)
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References 23 publications
(24 reference statements)
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“…Ensuring smooth control and performance reliability poses challenges for DYC systems due to the non-linearity, uncertainties, and interconnected dynamics of vehicles. Consequently, significant research endeavors are underway to address these challenges through various control strategies, including proportional-integral-derivative (PID) control [13,14], linear quadratic regulator (LQR) control [15,16], model predictive control (MPC) [17,18], and resilient control [19,20]. Initially, studies emphasized the implementation of a PID controller [13,14].…”
Section: Introductionmentioning
confidence: 99%
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“…Ensuring smooth control and performance reliability poses challenges for DYC systems due to the non-linearity, uncertainties, and interconnected dynamics of vehicles. Consequently, significant research endeavors are underway to address these challenges through various control strategies, including proportional-integral-derivative (PID) control [13,14], linear quadratic regulator (LQR) control [15,16], model predictive control (MPC) [17,18], and resilient control [19,20]. Initially, studies emphasized the implementation of a PID controller [13,14].…”
Section: Introductionmentioning
confidence: 99%
“…Consequently, these control systems remain vulnerable to disturbances from the external environment or inaccuracies in modeling real-world systems, particularly in segments demonstrating significant non-linearity. Moreover, MPC [17,18] is commonly used for longitudinal tracking in pure electric vehicles. However, recent MPC methods do not typically address the issue of softened constraints.…”
Section: Introductionmentioning
confidence: 99%
“…For example, in [23], Real-time switching control of a multi-control approach can adjust controller parameters to maximize vehicle stability. The reconfigurable controller utilizes insights from motor fault diagnosis to effectively manage the operation of both healthy and faulty motors in a coordinated manner [24]- [27]. The reconfigurable control strategy usually coordinates control variables based on the changing system parameters under a motor fault condition.…”
Section: Introductionmentioning
confidence: 99%
“…Coordinated regulation of the vehicle's sway and deflection angles is required for smoother WIS steering. Up-to-date control techniques such as fuzzy and model predictive control have been applied to study direct deflection control [11][12][13]. The path-tracking controller introduced in [14] shows that four-channel autoturbation control (ADRC) could achieve performance like anti-side wind, anti-skid, and anti-rollover in path tracking of four-wheel steering (4WS) agricultural vehicles.…”
Section: Introductionmentioning
confidence: 99%