Nonlinear Model Predictive Control for Precise Path Tracking in 4WID4WIS Electric Vehicles with Disturbance Observer-Based Speed Control

This research presents a novel methodology for attaining accurate path tracking in Four-Wheel Independent Drive Four-Wheel Independent Steering Unmanned Electric Vehicles (4WID4WIS UEVs) through the integration of Nonlinear Model Predictive Control (NMPC) with Disturbance Observer-Based (DOB) Speed Control. The vehicle system is equipped with four driving motors and four steering motors, with each motor being controlled by a lower-level controller. By utilizing the robust capabilities of NMPC in dealing with highly nonlinear models and its capacity to forecast system behavior across many time intervals, we lay the groundwork for achieving precise path tracking control. At the lower level, the disturbance observer-based speed controller (DOBSC) is utilized to mitigate disturbances and maintain accurate speed control, hence establishing a firm foundation for NMPC system. The NMPC method improving the vehicle's ability to correctly adhere to desired trajectories. The present study signifies a notable progress in the realm of path tracking control for 4WID4WIS UEVs. This development holds significant potential for implementation in the fields of autonomous driving and intelligent transportation systems.