Slip control for IWM vehicles based on hierarchical LQR

A proper dynamical model with the physical interconnection is necessary to accurately capture the slip phenomena of in-wheel-motored vehicles, since the wheels interact with each other through the vehicle body to make up the vehicle motion. Considering the uptrend in the number of in-wheel-motors, this paper proposes a way to effectively model the slip phenomena as a multi-agent dynamical system. A hierarchical LQR for time-varying interconnected system, which can significantly reduce the design burden, is presented for managing the wheel slip ratios properly, and the effectiveness of our proposed method is verified by both simulations and experiments.