Journal article
Integral Sliding Mode-Based Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Vehicles
Abstract
This paper presents an accurate, fast, and robust path-following control approach for four-wheel independently actuated (FWIA) autonomous vehicles via integrated control of the active front-wheel steering (AFS) and direct yaw-moment control (DYC). The path following is realized through simultaneously converging the yaw rate and lateral velocity to their respective desired values which are generated according to the path-following demand. A …
Authors
Hu C; Wang R; Yan F
Journal
IEEE Transactions on Transportation Electrification, Vol. 2, No. 2, pp. 221–230
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
10.1109/tte.2016.2537046
ISSN
2577-4212