Dynamical modeling and controller design of four wheels driven intelligent vehicle on three-dimensional terrain

摘要

Research on intelligent vehicle which based on three-dimensional terrain is the kernel of control technology. The focus of this work is to design trajectory tracking control system via state space method. We established the kinematic and dynamic models, inferred the state space equations under the condition of given parameters. Then the trajectory tracking controller and computer simulation were made. The results indicate that tracking time is short and steady errors between reference outputs and current outputs goes to zero asymptotically, so control system design scheme is feasible.