{"ID":2880475,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.13457","arxiv_id":"2508.13457","title":"Modeling and Control of AWOISV: A Filtered Tube-Based MPC Approach for Simultaneous Tracking of Lateral Position and Heading Angle","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.","short_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...","url_abs":"https://arxiv.org/abs/2508.13457","url_pdf":"https://arxiv.org/pdf/2508.13457v1","authors":"[\"Xu Yang\",\"Jun Ni\",\"Hengyang Feng\",\"Feiyu Wang\",\"Tiezhen Wang\"]","published":"2025-08-19T02:31:58Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}