Modeling and Control of AWOISV: A Filtered Tube-Based MPC Approach for Simultaneous Tracking of Lateral Position and Heading Angle

2025-08-18

AI Summary

To address the challenges of simultaneous high-precision lateral position and arbitrary heading angle tracking, as well as weak robustness against model uncertainties, for All-Wheel Omni-Directional Independent Steering Vehicles (AWOISVs), this paper proposes a Filtered Tube-based Linear Time-Varying Model Predictive Control (FT-LTVMPC) method. First, a generalized *v–β–r* dynamic model is formulated using the theoretical turning radius angle *θ_R* and sideslip angle *β_R*, enabling longitudinal–lateral motion decoupling. Second, *θ_R–β_R*-based motion characterization and a smooth mode-switching criterion are introduced to ensure seamless transitions across diverse operating conditions. Third, real-time instantaneous center-of-rotation analysis is integrated with model uncertainty compensation to enhance both robustness and computational efficiency. Co-simulation and hardware-in-the-loop experiments demonstrate that the proposed method achieves centimeter-level lateral positioning accuracy and degree-level heading angle tracking accuracy—even under significant model mismatch and parametric perturbations—thereby achieving, for the first time, high-precision concurrent tracking of both variables across all operational scenarios.

Technology Category

• Intelligent Robots: State Estimation
• Planning, Routing, and Scheduling: Activity and Plan Recognition
• Humans and AI: Human-Aware Planning and Behavior Prediction

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Applied ML and AI for Web-based mobile applications
• User Modeling, Personalization and Recommendation: On-Device user modeling, personalization, and recommendation
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

An all-wheel omni-directional independent steering vehicle (AWOISV) is a specialized all-wheel independent steering vehicle with each wheel capable of steering up to 90°, enabling unique maneuvers like yaw and diagonal movement. This paper introduces a theoretical steering radius angle and sideslip angle (( θ_R )-(β_R )) representation, based on the position of the instantaneous center of rotation relative to the wheel rotation center, defining the motion modes and switching criteria for AWOISVs. A generalized ( v)-(β)-(r ) dynamic model is developed with forward velocity (v), sideslip angle (β), and yaw rate (r) as states, and (θ_R) and (β_R) as control inputs. This model decouples longitudinal and lateral motions into forward and rotational motions, allowing seamless transitions across all motion modes under specific conditions. A filtered tube-based linear time-varying MPC (FT-LTVMPC) strategy is proposed, achieving simultaneous tracking of lateral position and arbitrary heading angles, with robustness to model inaccuracies and parameter uncertainties. Co-simulation and hardware-in-loop (HIL) experiments confirm that FT-LTVMPC enables high-precision control of both position and heading while ensuring excellent real-time performance.

Problem

• Simultaneous tracking of lateral position and heading angle
• Robust control under model inaccuracies and parameter uncertainties
• Seamless motion mode transitions for omni-directional steering vehicles

Innovation

• Filtered tube-based MPC for robust control
• Generalized dynamic model decoupling motion modes
• Simultaneous tracking of position and heading