Feedback linearization of a single-track dynamic model with steering actuator delay

Feedback linearization is a valuable tool for designing controllers for vehicles with nonholonomic constraints. However, actuator dynamics and delays – particularly in steering – can limit its effectiveness. This paper presents an extension to existing feedback linearization approaches that incorporates actuator dynamics into the linearization law, and compensates for delays and non-idealities with an advanced gain-scheduling control action. This results in a linear time-invariant, decoupled system, enabling trajectory tracking controller design using linear control methods. Simulation results show the effectiveness of the proposed solution within a trajectory tracking framework.