DocumentCode :
571294
Title :
Path-tracking control of an autonomous 4WS4WD electric vehicle using driving motors´ dynamics
Author :
Potluri, Ramprasad ; Singh, Arun Kant
Author_Institution :
Dept. of Electr. Eng., Indian Inst. of Technol. Kanpur, Kanpur, India
fYear :
2012
fDate :
6-9 Aug. 2012
Firstpage :
1
Lastpage :
6
Abstract :
A four-wheel steering four-wheel drive (4WS4WD) electric vehicle has an independent steering motor and an independent driving motor for each wheel, for a total of eight motors. The main advantages of this vehicle over conventional four-wheeled vehicles are maneuverability and efficiency. The existing solutions to the problem of path-tracking control of this vehicle have used mathematically sophisticated control and estimation techniques that have focused on the vehicle body dynamics. This paper shows that focusing instead on the motor dynamics helps control the vehicle using simpler techniques, and using fewer sensors and observers of the vehicle´s states.
Keywords :
electric vehicles; mathematical analysis; mobile robots; motor drives; path planning; road vehicles; steering systems; vehicle dynamics; wheels; autonomous 4WS4WD electric vehicle; disturbance observer; driving motor; driving motor dynamics; estimation techniques; four-wheel steering four-wheel drive electric vehicle; maneuverability; mathematically sophisticated control; path tracking control; sensors; steering motor; vehicle body dynamics; Brushless DC motors; Equations; Mathematical model; Vehicle dynamics; Vehicles; Wheels; 4WD4WS; 4WS4WD; coordination of multiple actuators; disturbance observer; electric vehicle;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial and Information Systems (ICIIS), 2012 7th IEEE International Conference on
Conference_Location :
Chennai
Print_ISBN :
978-1-4673-2603-2
Type :
conf
DOI :
10.1109/ICIInfS.2012.6304812
Filename :
6304812
Link To Document :
بازگشت