On a Robust Bounded Control Design of the Combined Wheel Slip for an Autonomous 4WS4WD Ground Vehicle

This study presents a robust bounded control that prevents wheel skidding for an autonomous 4WS4WD vehicle under uncertain tire/road condition and aerodynamic drag. Constraint on combined wheel slip is incorporated as a priori in design to prevent the skidding. A robust low-and-high gain technique is used to suppress the path-tracking error and to enhance the utilization of the limited wheel slip. Simulation shows that, under the uncertain tire/road condition and aerodynamic drag, the proposed control scheme can effectively limit the combined wheel slip and achieve the goal of path tracking. Moreover, the control inputs of wheel torque and wheel steering are coordinated well during the path tracking.