Model Identification of The Skid-steered Wheeled Vehicle at Operating Point

Since it is usually difficult to determine the mechanism model of the skid-steered wheeled vehicle, this paper mainly studies the system model identification technology of the vehicles. Because of the non-linearity of the skid-steered wheeled vehicle, an innovative concept of operating point is introduced. The entire system is divided into several operating points in terms of the motion state of the system. Then relying on the input and output identification data of the system, the Hankel matrix identification method based on Markov coefficients is used to get the linearized system model at each operating point. The comparison of the identification model with the mechanism model and real output of system shows that the identification model can characterize the system at the operating point.