Control of Vehicle with Power Wheeled Steerings Using Feedforward Dynamics Compensation
نویسنده
چکیده
In this paper, a construction of an efficient vehicle control method for an autonomous vehicle using the power wheeled steering (PWS) method by two driving wheels is described. First, the vehicle dynamics using the PWS method is analyzed. Next, an efficient controller for the PWS method is proposed. This controller includes a feedforward compensator which has the inverse dynamics of the vehicle and it controls both sides of the wheel angular velocities. Additionally, in order to confirm the effectiveness of the proposed control method, numerical simulation and experimental results are shown.
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