A novel motion control for ground vehicles with 4 independent wheel agents

Motion control for ground vehicles has been widely investigated to guarantee their stability and ride comfort. However, to further improve the manoeuvrability of ground vehicles, the 4-independent-wheel vehicles overpass the conventional vehicles for their wheels’ independent controllability. Although the existing hierarchy control scheme for 4-independent-wheel vehicles can guarantee the stability and manoeuvrability simultaneously, the control scheme is rather complicated and the involving effort allocation is time consuming. Hence this paper proposed a straightforward way to control the 4 independent wheels directly independently without involving the complicated hierarchy scheme, and the effectiveness is verified through both rectilinear and steering manoeuvres.