A trajectory tracking cooperative control method for a full-wheel independent steering commercial vehicle

By employing a hierarchical control architecture and disturbance observation technology, the problem of inaccurate trajectory tracking in all-wheel independent steering commercial vehicles under disturbances has been solved, achieving high-precision, stable, and low-energy trajectory tracking control, thereby improving the overall driving performance of commercial vehicles.

CN122411409APending Publication Date: 2026-07-17NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Filing Date
2026-04-08
Publication Date
2026-07-17

AI Technical Summary

Technical Problem

Commercial vehicles with all-wheel independent steering suffer from inaccurate trajectory tracking under disturbances, exhibiting problems such as conservative control strategies, poor multi-wheel coordination, and severe actuator chattering. In particular, they struggle to achieve a comprehensive driving performance that combines high precision, stability, and low energy consumption under random disturbances.

Method used

A hierarchical control architecture is adopted, and a tubular model predictive controller based on disturbance observation and adaptive contraction is designed. Combined with distributed immersion and invariant observers and fast terminal sliding mode control, disturbances are sensed and compensated in real time. Zero-space projection technology is used to eliminate wheel interference, suppress actuator chattering, and achieve trajectory tracking control.

Benefits of technology

It significantly improves the control quality of commercial vehicles under random disturbance conditions, enhances trajectory tracking accuracy and stability, reduces energy consumption, and extends the service life of key chassis components.

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Abstract

本发明公开了一种全轮独立转向商用车轨迹跟踪协同控制方法，包括：实时估计车辆受到的总扰动；动态调整管束模型预测控制的管束半径，在紧致约束范围内求解满足车辆运动需求的实际广义力矩；将次级优化目标函数的负梯度投影至零空间内，叠加得到全轮的优化目标转角；设计快速终端滑模控制器；驱动车轮转角在有限时间内收敛至优化目标转角并抑制抖振现象，进而完成对全轮独立转向商用车的轨迹跟踪控制。本发明通过零空间投影技术，结合分布式浸入与不变观测器和快速终端滑模控制，消除车轮间的运动学干涉并抑制执行器抖振，进一步地提升随机扰动工况下的整车控制品质，提高商用车的协同控制能力，以实现车辆的高精度、高稳定性与低能耗运行。
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