Journal article
Composite Nonlinear Feedback Control for Path Following of Four-Wheel Independently Actuated Autonomous Ground Vehicles
Abstract
This paper investigates the path-following control problem for four-wheel independently actuated autonomous ground vehicles through integrated control of active front-wheel steering and direct yaw-moment control. A modified composite nonlinear feedback strategy is proposed to improve the transient performance and eliminate the steady-state errors in path-following control considering the tire force saturations, in the presence of the …
Authors
Wang R; Hu C; Yan F; Chadli M
Journal
IEEE Transactions on Intelligent Transportation Systems, Vol. 17, No. 7, pp. 2063–2074
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
July 1, 2016
DOI
10.1109/tits.2015.2498172
ISSN
1524-9050