Path Tracking Control with Optimal Allocation

Paper in proceeding, 2026

Since their advent, over-actuated vehicles have not only enhanced the safety of vehicles but also afforded
more freedom for controlling the interaction of tires with the road. Harnessing this freedom, our research contributes a
control architecture that coordinates multiple by-wire systems in front-steered over-actuated vehicles. The tracking controller
generates the requests of longitudinal, lateral forces and yaw moment, that are required to correct deviations from a reference
trajectory. The requests are then allocated to individual wheel torques and front steering angle through a constrained
optimization with the objectives of minimum friction utilization and minimum tire wear on all wheels. A high fidelity vehicle
simulation is used to validate the effectiveness of the proposed architecture under different manoeuvres.