다중 액츄에이터 조합이 경로 추적 제어에 미치는 영향에 관한 비교 연구

This paper presents a comparative study on the effects of multiple actuator combinations on path tracking control. First, the state-space model with a lookahead distance is derived from a 2-DOF bicycle model and a target path. There arc several actuators for path tracking: front-wheel steering(FWS), rear-wheel steering(RWS), 4-wheel steering(4WS), and 4-wheel independent steering/driving/braking(4WIS/4WID/4WIB). A control input is composed through front-wheel steering, 4-wheel steering, and the control yaw moment. Then, the control yaw moment is converted into tire forces generated by FWS, RWS, RWIS, 4WS, 4WIS, 4WID, and 4WTB. The controller is designed based on the model predictive control (MFC). To check the effects of these actuators on path tracking, a simulation is done on a vehicle simulation package. Simulation results show that additional actuators, except for FWS and 4WS, have little impact on path tracking performance.