Decoupled LTV–MPC for all wheel omni-directional independent steering vehicle with adjustable instantaneous center of rotation

An all-wheel omni-directional independent steering vehicle (AWOISV) is a specialized all-wheel independent steering vehicle, offering enhanced maneuverability through multiple steering modes such as pivot steering mode and diagonal steering mode. This paper formulates a unified kinematic model based on the instantaneous center of rotation (ICR), with inputs defined as front-wheel angles and longitudinal offsets from steering center to the front axle. This formulation transforms discrete steering modes into continuously differentiable state-space representations, enabling seamless transitions between steering modes. The proposed model intrinsically decouples position and heading angle. Based on decoupling property and loss function, a decoupled linear time-varying model predictive control (DLTV–MPC) strategy is developed to achieve synchronous high-precision tracking of both position and heading angles. The effectiveness of DLTV–MPC in achieving high-precision simultaneous tracking of vehicle position and heading angle was validated through Simulink/CarSim co-simulation.