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A CPS-Based Architecture for Mobile Robotics: Design, Integration, and Localisation Experiments. [PDF]
Sensors (Basel)Líšková D, Jadlovská A, Pazdič F.
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Active sensing during a visual perceptual decision-making task. [PDF]
iScienceGhani N +2 more
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Nonlinear hierarchical control for four-wheel-independent-drive electric vehicle
Complex Engineering Systems, 2023As under-constrained systems, four-wheel-independent-drive (4WID) electric vehicles have more driving degrees of freedom. In this context, reasonable control and distribution of driving or braking torque to each wheel is extremely important from the vehicle safety perspective.
Xiang Chen +3 more
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Directional stability and control of four-wheel independent drive electric vehicles
Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2002The innovative powertrain configuration of modern electric vehicles with four-wheel independent drive (4WID) provides the possibility of simple and exact yaw moment control by controlling the electric motor of every wheel independently. In this study, a genuine control strategy for optimum direct yaw moment control is proposed.
G R Vossoughi
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The power control system of the four-wheel independent drive electric vehicle
2011 International Conference on Remote Sensing, Environment and Transportation Engineering, 2011The power control system of the self-made four-wheel independent drive electric vehicle is introduced, and the centralized control strategy of the drive motors is mainly analyzed. The experimental result shows that the electric vehicle can run stably under various defined work mode, and fulfills the basic motion request.
null Xiaochun Zhu +2 more
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Safe Predictive Control of Four-Wheel Mobile Robot with Independent Steering and Drive
2021 American Control Conference (ACC), 2021We propose a predictive controller that minimizes the trajectory error of a four-wheel mobile robot with independent steering and drive (4ISD) under safety constraints imposed by the presence of people. The 4ISD drivetrain is overactuated, that is, a given motion vector maps to multiple sets of actuation, not all of which are safe or optimal.
Aliasghar Arab, Ilija Hadzic, Jingang Yi
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Design of Torque Distribution Strategy for Four-Wheel-Independent-Drive Electric Vehicle
Automatic Control and Computer Sciences, 2020In order to further improve the handling stability of four-wheel-independent-drive electric vehicle, the control strategy designed in this paper adopts the hierarchical structure. The upper controller uses the vehicle dynamics principle and relevant expert control experience to formulate the corresponding fuzzy control rules to build the fuzzy ...
Chuanwei Zhang +4 more
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Trajectory Tracking Control of Four-Wheel Independent Drive Electric Vehicles
2020 IEEE 16th International Conference on Control & Automation (ICCA), 2020A two layered control scheme is proposed to solve the trajectory tracking problem for a four-wheel independent drive electric vehicle (4WIDEV) in this paper. The first layered control is a control strategy producing front steering wheel angle and yaw moment that is designed by model predictive control (MPC) approach.
Wei Wang +3 more
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Four-Wheel Independent Steering Swerve Drive for First Robotics Competition
Volume 5: Dynamics, Vibration, and Control, 2022Abstract Swerve drive is a drive train that is designed to be omnidirectional, with the ability of a robot to move in any direction at any moment. A swerve drive module is composed of two motors, a gearbox, encoders, and a wheel. One of the motors drives the wheel, while the other motor controls the steering. The gearbox is what controls
Benjamin DeNoma +4 more
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