Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

被引：0
|
作者：
Wang, Yiping [1 ]
Li, Xueyuan [1 ]
Liu, Qi [1 ]
Li, Songhao [1 ]
Luan, Tian [1 ]
Li, Zirui [1 ,2 ]
机构：
[1] Beijing Inst Technol, Sch Mech Engn, Beijing, Peoples R China
[2] Delft Univ Technol, Fac Civil Engn & Geosci, Dept Transport & Planning, Stevinweg 1, NL-2628 CN Delft, Netherlands
来源：
PROCEEDINGS OF 2022 INTERNATIONAL CONFERENCE ON AUTONOMOUS UNMANNED SYSTEMS, ICAUS 2022 | 2023年 / 1010卷
关键词：
Skid-steered vehicle; Formation driving; Lateral and longitudinal control; Distributed model predictive control;
D O I：
10.1007/978-981-99-0479-2_113
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.
引用
收藏
页码：1244 / 1256
页数：13
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