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arXiv · 2508.13457

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

Xu Yang·Jun Ni·Hengyang Feng·Feiyu Wang·Tiezhen Wang
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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.

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Xu Yang, Jun Ni, Hengyang Feng, Feiyu Wang, Tiezhen Wang. 2025-08-19. Modeling and Control of AWOISV: A Filtered Tube-Based MPC Approach for Simultaneous Tracking of Lateral Position and Heading Angle. https://arxiv.org/abs/2508.13457

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