A Nonlinear Control for the Path Tracking Problem of Autonomous Bi-Steerable Vehicles

In this paper, a path tracking controller for a bi-steerable vehicle is presented. Based on a kinematic path tracking model of the car in error coordinates expressed in a coordinate system moving along the reference path, a nonlinear feedback control is designed using Lyapunov-based control design techniques, which yields asymptotic stability result. Simulation tests are presented. The results demonstrate that the problem of path tracking control of a bi-steerable vehicle is solved with fast convergence and good transient performance.