This paper presents a novel approach for a force-controlled over-actuated two-wheel-steer four-wheel-drive vehicle to achieve accurate path tracking through control allocation. The control algorithm is developed by combining embedded integrator model predictive control and sequential quadratic programming–based control allocation. Based on the offset model presented in this paper, the model predictive control can generate the virtual accelerations. Using these virtual accelerations in control allocation, the actual control inputs are obtained. The proposed method is then used in a simulation to demonstrate its successful implementation in path tracking.
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