This paper studies the controller design for automatic steering of vehicles to track the desired path. The coupled nonlinear model is considered. A suitable transformation is applied to deal with the nonlinearities. Here, no assumption of small angle is used and no nonlinearly coupling term of the model is ignored. A controller based on Lyapunov approach is derived to handle this complex system. Simulation results show that the designed controller is effective.


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    Title :

    Automatic path tracking control of vehicles based on Lyapunov approach


    Contributors:
    Zhang, J.R. (author) / Xu, S.J. (author) / Rachid, A. (author)


    Publication date :

    2001-01-01


    Size :

    316451 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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