Lyapunov-Based Path Following of Four Wheel Steering Autonomous Vehicles

Many research have been conducted to evaluate the path following task in the context of autonomous vehicles, by different control strategies. This paper addresses the four-wheel steering (۴WS) capability of electrical vehicles to follow a lane change reference path with the constant longitudinal velocity. The advantage of the proposed Lyapunov-based controller is that compensates for the road curvature and traveled path as a disturbance and also uses the feedback of tracking errors to follow the reference path, properly. In addition, by introducing a positive definite candidate function, the proof of the stability in the path following task is provided. Simulation results confirm that the proposed controller is able to make the lateral preview offset and heading error converge toward zero, despite the un-modeled dynamics and parametric uncertainties.

کلیدواژه ها:

Autonomous vehicle ، Bicycle model ، four wheel steering ، Lane change ، Lyapunov-based control.