Zhang, R., Xiong, L., Yu, Z., and Liu, W., "A Nonlinear Dynamic Control Design with Conditional Integrators Applied to Unmanned Skid-steering Vehicle," SAE Technical Paper 2017-01-1585, 2017, doi:10.4271/2017-01-1585.
A dynamic controller is designed for unmanned skid-steering vehicle. The vehicle speed is controlled through driving torque of engine to achieve the desired vehicle speed and the steering is controlled through hydraulic braking on each side of the vehicle to achieve the desired yaw rate. Contrary to the common approaches by considering non-holonomic constraints, tire slip and saturation of actuators torque influencing the driving and braking are considered, based on the analysis of vehicle dynamic model and nonlinear tire model. Hence, with conditional integrators, the dynamic controller overcoming integral saturation is designed to ensure the accurate tracking for desired signals under influence of tire forces and constraint of actuators. In addition, the exponential kind filter is utilized to enhance the ability of smoothing noise of wheel speed. To perform small radius cornering maneuvers, a dynamic control strategy for steering when vehicle speed is zero is also designed. In the end, the algorithms proposed are verified by real vehicle tests.