Research on Adaptive Longitudinal Speed Tracking Control Strategy of Distributed Driving Unmanned Ground Vehicle Based on PI-AWOA

In order to achieve longitudinal velocity tracking control of a distributed driving unmanned ground vehicle (DDUGV), this paper proposes a hierarchical control strategy. The upper controller utilizes PI control to calculate the desired longitudinal resultant force, while the lower controller employs the whale optimization algorithm (WOA) to optimize tire dissipating energy at low speeds and the tire load rate at high speeds, all while ensuring the desired longitudinal resultant force is met. Simulation analysis is conducted under various operating conditions to validate the effectiveness of the proposed scheme, which can efficiently optimize both the economy and safety in an adaptive manner.