Control Allocation Strategies For An Overactuated Electric Vehicle

Overactuated Intelligent Autonomous Electric Vehicles may possess up to 6 degrees of freedom, such as two steering devices and four independent traction wheels, which serve to control yaw, lateral and longitudinal velocities. It is shown that the coupled nonlinear control problem can be set as an optimal control strategy, which consists of a distribution of contact forces or steering angles according to yaw and lateral speed control. Then, the motor torques of the DC drives are computed in order to ensure dominant wheel rolling operation for a 4 X 4 motion or to ensure that all wheels are in the rolling state when using steering angles