In this paper, a robust wheel slip control system based on a sliding mode controller is proposed for improving traction-ability and reducing energy consumption during sudden acceleration for a personal electric vehicle. Sliding mode control techniques have been employed widely in the development of a robust wheel slip controller of conventional internal combustion engine vehicles due to their a...

2. Properties of Odometry Errors This paper describes a practical method for reducing In a typical differential drive mobile robot incremental odometry errors caused by kinematic imperfections of a mobile encoders are mounted onto the two drive motors to count the robot. These errors, here referred to as "systematic" errors, stay wheel revolutions. After a short sampling interval I the left and...

This paper proposes an active steering controller for Driven Independently Rotating Wheelset (DIRW) vehicles based on deep reinforcement learning (DRL). For the two-axle railway equipped with Wheelsets (IRWs), each wheel connected to a wheel-side motor, Ape-X DDPG controller, enhanced version of Deep Deterministic Policy Gradient (DDPG) algorithm, is adopted. Incorporating Distributed Prioritiz...

Unstructured off-road environments with complex terrain obstacles and pavement properties bring obvious challenges for special purpose autonomous vehicle control. A cascade direct yaw moment control strategy (CDYC), which contains a main loop servo loop, is proposed to enhance the accuracy stability of an independent eight in-wheel motor-driven rear-wheel steering (8WD/RWS). In double PID contr...