4WS Intelligent Fire-Fighting Robot Trajectory Tracking Control Based on Adaptive Cornering Stiffness

4WS Intelligent Fire-Fighting Robot Trajectory Tracking Control Based on Adaptive Cornering Stiffness

To address the challenges posed by nonlinear tire characteristics in trajectory tracking control of active four-wheel steering (4WS) vehicle or fire-fighting robot, a novel control method is proposed. This method incorporates time-varying corrected cornering stiffness to enhance adaptability. Initia...

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Bibliographic Details
Main Authors: Lin Zhong, Xudong Jiang, Wenlong Jia, Wei Shi
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
4WS
trajectory tracking
cornering stiffness estimation
neural network
sliding mode control
fuzzy control
Online Access:https://ieeexplore.ieee.org/document/10459193/

Internet

https://ieeexplore.ieee.org/document/10459193/

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