提出新模型与控制方法，实现全向车精准跟踪位置和方向。
Modeling and Control of AWOISV: A Filtered Tube-Based MPC Approach for Simultaneous Tracking of Lateral Position and Heading Angle
- 基于瞬时旋转中心定义运动模式与切换条件。
- 模型解耦纵横运动，支持全模式无缝切换。
- 实测验证高精度、实时性强，抗参数误差。
全轮独立转向车辆（AWOISV）每个车轮可转向达90°，具备偏航与斜向移动等特殊能力。本文提出基于瞬时旋转中心相对轮心位置的理论转向半径角与侧偏角（θ_R-β_R）表示方法，定义了AWOISV的运动模式及切换准则。构建了以前进速度v、侧偏角β和偏航率r为状态，θ_R与β_R为控制输入的广义v-β-r动态模型，将纵向与横向运动解耦为前向与旋转运动，在特定条件下实现所有运动模式的平滑过渡。提出滤波管式线性时变模型预测控制（FT-LTVMPC）策略，实现横向位置与任意航向角的同步高精度跟踪，且对模型偏差与参数不确定性具有强鲁棒性。联合仿真与硬件在环（HIL）实验表明，FT-LTVMPC在保证高精度控制的同时具备优异实时性能。
原文摘要 · Abstract (English)
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.
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