A dynamic controller is designed for unmanned skid-steering vehicle. The vehicle speed is controlled through engine driving torque to achieve the desired vehicle speed and the steering is controlled through hydraulic braking on each side of the vehicle to achieve the desired yaw rate. Contrary to the common approaches considering non-holonomic constraints, tire slip and saturation of actuators torque influencing the driving and braking are considered,based on the analysis of vehicle dynamic model and nonlinear tire model. Hence, with conditional integrators, the dynamic controller overcoming Integral saturation is designed to ensure the accurate tracking for desired signals under influence of tire forces and constraint of actuators. In the end, the dynamic tracking algorithms proposed are verified by real vehicle tests.
YU Zhuoping
,
ZHANG Renxie
,
XIONG Lu
,
HUANG Chujun
. Dynamic Control for Unmanned Skid-steering Vehicle with Conditional Integartors[J]. Journal of Mechanical Engineering, 2017
, 53(14)
: 29
-38
.
DOI: 10.3901/JME.2017.14.029
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