Dynamic Control of Electric Motor Driven Skidsteered Vehicles

Abstract:

A dynamic controller based on antiwindup proportionalintegral (PI) algorithm for skidsteered vehicles was designed. The dynamic characteristics of skidsteered vehicles were analyzed, and a double closedloop lateral dynamic control method was proposed to improve the control performance which was influenced by the complex and varied tireroad adhesion conditions. The simulation and experiment results show that the proposed dynamic controller has good transient and steady tracking performance, which can track the driver’s intention accurately.