{"title":"Automatic path tracking control of vehicles based on Lyapunov approach","authors":"J.R. Zhang, S.J. Xu, A. Rachid","doi":"10.1109/ITSC.2001.948685","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":173372,"journal":{"name":"ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585)","volume":"23 1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-08-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"11","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ITSC.2001.948685","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 11
Abstract
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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