Experiment of integrated steering and driving force controller with embedded CPU for front wheel steering vehicles

One of the key technologies for automatic control of automobiles and wheeled robots is the robust tracking control to target trajectory and velocity. In our previous research, we have proposed an integrated steering and driving force controller for front steering vehicles as the tracking control to target trajectory and velocity. Since this method might become computationally expensive due to real-time repeated numerical computation to solve nonlinear equations, it is necessary to implement it into the practical on-board processor for motion control to establish that the controller performs high enough control frequency to achieve the required motion performance. In this study, we develop a real-time guidance and control system for the experimental vehicles controlled by an embedded CPU commonly used in automobiles. The efficacy of this control method is verified through experiments.