Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

Yiping Wang; Xueyuan Li; Qi Liu; Songhao Li; Tian Luan; Zirui Li

doi:10.1007/978-981-99-0479-2_113

Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

Yiping Wang, Xueyuan Li^*, Qi Liu, Songhao Li, Tian Luan, Zirui Li

^*Corresponding author for this work

Transport and Planning

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Abstract

The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.

Original language	English
Title of host publication	Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022
Editors	Wenxing Fu, Mancang Gu, Yifeng Niu
Place of Publication	Singapore
Publisher	Springer
Pages	1244-1256
Number of pages	13
Volume	1010
Edition	1
ISBN (Electronic)	978-981-99-0479-2
ISBN (Print)	978-981-99-0481-5, 978-981-99-0478-5
DOIs	https://doi.org/10.1007/978-981-99-0479-2_113
Publication status	Published - 2023
Event	International Conference on Autonomous Unmanned Systems, ICAUS 2022 - Xi'an, China Duration: 23 Sept 2022 → 25 Sept 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	1010 LNEE
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Autonomous Unmanned Systems, ICAUS 2022
Country/Territory	China
City	Xi'an
Period	23/09/22 → 25/09/22

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Distributed model predictive control
Formation driving
Lateral and longitudinal control
Skid-steered vehicle

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1007/978-981-99-0479-2_113

Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive ControlFinal published version, 1.49 MB

Cite this

Wang, Y., Li, X., Liu, Q., Li, S., Luan, T., & Li, Z. (2023). Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. In W. Fu, M. Gu, & Y. Niu (Eds.), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022 (1 ed., Vol. 1010, pp. 1244-1256). (Lecture Notes in Electrical Engineering; Vol. 1010 LNEE). Springer. https://doi.org/10.1007/978-981-99-0479-2_113

Wang, Yiping ; Li, Xueyuan ; Liu, Qi et al. / Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. editor / Wenxing Fu ; Mancang Gu ; Yifeng Niu. Vol. 1010 1. ed. Singapore : Springer, 2023. pp. 1244-1256 (Lecture Notes in Electrical Engineering).

@inproceedings{e62459994884497da53d5b7294b64cc6,

title = "Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control",

abstract = "The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.",

keywords = "Distributed model predictive control, Formation driving, Lateral and longitudinal control, Skid-steered vehicle",

author = "Yiping Wang and Xueyuan Li and Qi Liu and Songhao Li and Tian Luan and Zirui Li",

note = "Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; International Conference on Autonomous Unmanned Systems, ICAUS 2022 ; Conference date: 23-09-2022 Through 25-09-2022",

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doi = "10.1007/978-981-99-0479-2_113",

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booktitle = "Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022",

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Wang, Y, Li, X, Liu, Q, Li, S, Luan, T & Li, Z 2023, Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. in W Fu, M Gu & Y Niu (eds), Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. 1 edn, vol. 1010, Lecture Notes in Electrical Engineering, vol. 1010 LNEE, Springer, Singapore, pp. 1244-1256, International Conference on Autonomous Unmanned Systems, ICAUS 2022, Xi'an, China, 23/09/22. https://doi.org/10.1007/978-981-99-0479-2_113

Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. / Wang, Yiping; Li, Xueyuan; Liu, Qi et al.
Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. ed. / Wenxing Fu; Mancang Gu; Yifeng Niu. Vol. 1010 1. ed. Singapore: Springer, 2023. p. 1244-1256 (Lecture Notes in Electrical Engineering; Vol. 1010 LNEE).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

AU - Wang, Yiping

AU - Li, Xueyuan

AU - Liu, Qi

AU - Li, Songhao

AU - Luan, Tian

AU - Li, Zirui

N1 - Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2023

Y1 - 2023

N2 - The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.

AB - The skid-steered vehicle has the advantages of simple structure and strong maneuverability. Its formation driving can effectively improve safety, reduce energy consumption and exert its benefits, and has wide application prospects in military and civilian fields. Differential skid steering has strong horizontal and vertical coupling characteristics, so the tracking performance of the vehicle is poor. Therefore, it is of great significance to study horizontal and vertical joint control. Firstly, the mathematical model of the vehicle platoon is established to realize the formation control of skid-steered vehicles. Then, a combined horizontal and vertical control strategy for skid-steered vehicle formation is proposed, and a distributed model predictive controller is designed. Finally, simulation experiments verified that the designed method has good feasibility and stability.

KW - Distributed model predictive control

KW - Formation driving

KW - Lateral and longitudinal control

KW - Skid-steered vehicle

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PB - Springer

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Y2 - 23 September 2022 through 25 September 2022

ER -

Wang Y, Li X, Liu Q, Li S, Luan T, Li Z. Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control. In Fu W, Gu M, Niu Y, editors, Proceedings of 2022 International Conference on Autonomous Unmanned Systems, ICAUS 2022. 1 ed. Vol. 1010. Singapore: Springer. 2023. p. 1244-1256. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-981-99-0479-2_113

Formation Control of Skid-Steered Vehicles Based on Distributed Model Predictive Control

Abstract

Publication series

Conference

Bibliographical note

Keywords

UN SDGs

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