QPSOMPC-based chassis coordination control of 6WIDAGV for vehicle stability and trajectory tracking

This paper investigated the coordination control of six-wheel independent drive autonomous ground vehicle for simultaneous trajectory tracking and yaw stability control. A coordination controller is presented by combining quantum-behaved particle swarm optimization algorithm and model predictive control algorithm for better computational efficiency of rolling optimization. To suppress chattering and improve tracking performance, a front-wheel steering angle tracking controller is designed by using the super-twisting sliding mode control algorithm, and an unknown-input observer considering actuator time delay is proposed for front-wheel steering angle estimation. A tire force optimal allocation method is designed to achieve coordinated chassis control with the longitudinal vehicle speed, yaw stability, and tire slip rate being considered. The results indicate that the proposed coordinated control strategy can effectively coordinate the upper controller and chassis execution controller, achieving comprehensive optimization and improvement of vehicle multi-objective control performance.