Skid Steering Based Maneuvering of Robotic Vehicle with Articulated Suspension 2009-01-0437
This paper describes a driving control algorithm based on skid steering for a Robotic Vehicle with Articulated Suspension (RVAS). The driving control algorithm consists of four parts; speed controller for tracking of the desired speeds, yaw rate controller which computes a yaw moment input to track desired yaw rates, longitudinal tire force distribution which determines an optimal desired longitudinal tire force and wheel torque controller which determines a wheel torque command at each wheel to keep slip ratio at each wheel below a limit value as well as track the desired tire force. Longitudinal and vertical tire force estimators are designed for optimal tire force distribution and wheel slip control. The dynamic model of RVAS for simulation study is validated using vehicle test data. It is found from simulations with closed-loop driver-vehicle-controller system  that the proposed driving controller improves maneuverability of RVAS as well as produces satisfactory control performance.
Juyong Kang, Wongun Kim, Kyongsu Yi, Soungyong Jung
Seoul National University
SAE World Congress & Exhibition
SAE International Journal of Passenger Cars - Mechanical Systems-V118-6EJ, Tire and Wheel Technology and Vehicle Dynamics and Simulation, 2009-SP-2221, SAE International Journal of Passenger Cars - Mechanical Systems-V118-6