Integrated Control of a Wheel–Track Hybrid Vehicle Based on Adaptive Model Predictive Control
, Zheng Pan 1, Junhua Liu 2, Shiyu Zhou 1, Shaoxun Liu 1, Shouyuan Chen 1 and Rongrong Wang 1,*Round 1
Reviewer 1 Report
Comments and Suggestions for AuthorsThe proposed paper represents a controller modeling of wheel and track combined vehicles. This integrated control strategy is particularly for enhancing the performance, stability of vehicle mobility, which can be used in various military, agricultural, and construction environments.
- The dynamic model could be too simple to prove the proposed AMPC controller since the hybrid vehicle is a highly nonlinear system. The author used a Matlab VD model, and it does not represent the exact nonlinearity of vehicle dynamics. If possible the MATLAB simulink control model can be connected to the MBS tools such as RecurDyn etc., and can prove the proposed model more strongly, since the paper shows only simulation results. If there is an experimental work, then it is not necessary.
Author Response
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Author Response File: 
Author Response.pdf
Reviewer 2 Report
Comments and Suggestions for AuthorsThis paper investigates the lateral dynamic control of the vehicle under conditions where both tracks and wheels are in contact with the ground. Initially, a dynamic model of the vehicle is established based on the tire brush model and the linearized general track model. Subsequently, an adaptive model predictive controller is designed, taking the side slip angle and slip ratio as constraints. Finally, simulations are conducted to validate the effectiveness of the proposed controller. The paper is well organized, but some problems need further improvement. I think the paper is acceptable after revision.
1. The main contributions of this paper should be highlighted in the introduction.
2. The authors dedicate a substantial portion to introducing the system modeling process. Could the authors elaborate on the innovative aspects of this modeling approach?
3. The authors need to improve the clarity and normality of Figure 5.
4. In Section 3, an adaptive model predictive controller is designed. The authors need to state the advantages of this controller explicitly.
5. There is an error in the derivation of Equation 5 that needs to be corrected.
6. The word “otherwise” in Equation 10 is misspelled and needs to be corrected.
Comments on the Quality of English Languageok
Author Response
Please see the attachment.
Author Response File: Author Response.pdf
