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.
Automatic path tracking control of vehicles based on Lyapunov approach
2001-01-01
316451 byte
Conference paper
Electronic Resource
English
Automatic Path Tracking Control of Vehicles Based on Lyapunov Approach
British Library Conference Proceedings | 2001
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