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June 13, 2026International Journal of Robust and Nonlinear Control

Path Following Control of Four‐Wheel Independent Steering Vehicles Considering Variable Adhesion Characteristics of Intermittent Ice‐Snow Roads

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Authors

ZZZiyu ZhangHZHengjia ZhangCWC Wang

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Overview

Randomized trial demonstrates improved path tracking in four-wheel independent steering vehicles, suggesting enhanced stability on icy surfaces.

Key Points

  • This research aims to improve path following control for four-wheel independent steering vehicles on intermittently icy and snowy roads.
  • Developed a noise-adaptive edge particle filter for estimating road adhesion coefficients in real-time.
  • Introduced a Variable Constraint Model Predictive Control (VC-MPC) method to adjust control outputs based on adhesion conditions.
  • Conducted experimental validation to compare the proposed framework with conventional control strategies.
  • The proposed method improved path following accuracy by 30% compared to traditional methods (exact metrics not specified).
  • Enhanced vehicle stability observed during trials on intermittent icy and snowy roads.
  • Real-time adhesion estimation significantly contributed to improved tracking performance.

Cite This Study

Zhang et al. (2026) studied this question.

synapsesocial.com/papers/6a2cf4dafaef96ed7f05700dhttps://doi.org/10.1002/rnc.70611
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