Coordinated Slip Control of Multi-Axle Distributed Drive Vehicle Based on HLQR

Acceleration Slip Regulation Strategy for Distributed Drive Electric Vehicles with Independent Front Axle Drive Motors

This paper presents an acceleration slip regulation strategy for distributed drive electric vehicles with two motors on the front axle. The tasks of the strategy include controlling the slip ratio to make full use of the road grip and controlling the yaw rate to eliminate the lateral movement due to the difference between motor torques. The rate of the slip ratio change can be controlled by con...

Motion Synthesis and Coordinated Control in the Multi-Axle-Driving-Vehicle

Distributed multi-vehicle coordinated control via local information exchange

This paper describes a distributed coordination scheme with local information exchange for multiple vehicle systems. We introduce second-order consensus protocols that take into account motions of the information states and their derivatives, extending first-order protocols from the literature. We also derive necessary and sufficient conditions under which consensus can be reached in the contex...

Research on Control Strategy of Differential Drive Assisted Steering of Distributed Drive Electric Vehicle

According to the independence, accuracy and controllability of the driving/braking torque of the distributed drive electric vehicle, a control strategy of differential drive assisted steering was designed. Firstly, the assisted curve under different speed and steering wheel torque was developed and the differential torques were distributed to the right and left front wheels. Then the steering r...

Synchronization of Information in Distributed Multiple Vehicle Coordinated Control

Cooperation in multiple vehicle teams requires that information be shared between team members. If shared information is not synchronized across the team, then cooperation is adversely affected. This paper considers the problem of information synchronization in multiple agent teams. We define notions of asymptotic synchronizability and show that a team of agents is asymptotically synchronizable...