Model and control for four-powered-caster vehicle: A probability-based approach

Lianqing Liu, Hiroyasu Iwata, Yong Liu, Yunyi Jia, Ning xi

Research output: Contribution to journalArticlepeer-review


A vehicle with four powered caster wheels can provide much more motion flexibility in a constrained environment. However, the dynamic modelling and control of such system is challenging due to its high redundancy. This paper investigates the dynamic model and tracking control for a four-powered-caster vehicle (4-PCV) on complex terrain without any additional sensor. The torques applied to the wheels are dynamically redistributed based on the real-time conditions of the whole wheel–ground interactions so that the vehicle can track the desired trajectory when moving on different terrains. A dynamic model considering the wheel–ground interaction is first derived. Then a novel approach based on a probability scheme is proposed to identify the status of the vehicle and the wheel slip ratio by only observing the velocity feedback from motors encoders. Based on this real-time perception information, a tracking controller and a torque distribution scheme are applied to make sure that each wheel can be self-adapted to meet a complex wheel–ground condition to eliminate or reduce the probability of slippage. The effectiveness of the proposed estimation approach and the performance of the torque distribution schemes are verified by simulation.

Original languageEnglish
Pages (from-to)875-882
Number of pages8
JournalTransactions of the Institute of Measurement and Control
Issue number7
Publication statusPublished - 2013 Oct
Externally publishedYes


  • Dynamics control
  • holonomic
  • mobile manipulator
  • probability-based

ASJC Scopus subject areas

  • Instrumentation


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