Synchronization and tracking control strategy of four-wheel independent steering system based on improved model predictive control method

Abstract

Four-wheel independent steering system (4WIS) is a development trend due to its agility, safety, and capability to achieve vehicle smart control. However, improving the synchronization and tracking performance of 4WIS is a great challenge for its multivariable and nonlinear characteristics. To avoid four-wheel asynchrony and decline in tracking performance, a synchronization and tracking control strategy of 4WIS system based on improved model predictive control (MPC) method is proposed in this paper. Firstly, the system mathematical models are established. Next, the synchronization and tracking controller based on MPC and alternating direction method of multipliers (ADMM) is designed to enhance system performance. Finally, strategy performance is validated by simulation, which indicates that the proposed strategy increases the 4WIS synchronization and tracking performance.