Dynamic modelling and maneuvering control of a front-wheel-drive autonomous vehicle

摘要

This work proposes the problem of dynamic modelling and maneuvering control of a front-wheel-drive car-like vehicle. The vehicle is controlled by a torque steering the front wheels and by a second torque driving the front wheels via a differential gear-box and side-shafts. Methods from Lagrangian mechanics are applied to derive the mathematical model of the vehicle subject to nonholonomic constraints. A design methodology is presented for computing nonlinear feedback control strategies for the driving and steering torques such that a point on the vehicle asymptotically tracks smooth reference paths in the plane.