On the maneuvering control of networks of moving vehicles

This paper discusses the maneuvering control algorithm based on all-wheel independent driving and steering control techniques for special purpose 6WD/WS vehicles. The maneuvering control algorithms considering superior dynamic characteristics of high power in-wheel motors and independent steering system are designed to perform driving and steering control, vehicle stability control, and fault tolerant control. The maneuvering controller applies sliding and optimal control theories considering optimal torque distribution and friction circle related to the vertical tire force. The fault tolerant control algorithm is applied to obtain the similar maneuverability to that of the non-faulty vehicle. The simulations using the Matlab/Simulink model and experiments using HIL simulator with the designed control algorithms prove the remarkably improved performances in terms of vehicle stability and maneuverability under the double lane change, slalom, and fishhook test conditions. Key-Words: All-wheel independent control, Fault tolerant control, Friction circle, Maneuvering controller, Vehicle stability control