Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models

<div>Time histories for steering angles of wheels and longitudinal forces of tires during the vehicle path-following control. (a) Wheel steering angle. (b) Longitudinal force of tire.</div>

Shock and Vibration

fig6

Figure 6

Figure 6: Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models 