An anti-skidding control approach for autonomous path tracking of a 4WS/4WD vehicle

In this paper, an approach of anti-skidding path tracking control of a 4WS/4WD vehicle is presented. The approach incorporates the wheel slip constraint as a priori into control design so that the skidding can be avoided. A control structure of wheel torque and wheel steering is proposed to transform the original problem to that of state regulation with input constraint. For the transformed problem, a low-and-high gain technique is applied to construct the constrained controller and to enhance the utilization of the wheel slip under constraint. Simulation shows that the proposed control scheme, during tracking on a snow road, is capable of limiting the wheel slip, and has a satisfactory coordination between wheel torque and wheel steering.