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This paper deals with the controller design problem for automatic steering of vehicles. The nonlinear and uncertain lateral motion model of the vehicle is considered. The sliding mode controllers, with LQ optimal sliding surface and with guaranteed cost sliding surface, are proposed such that the lateral velocity and the yaw rate are stabilized. The robustness of the controllers is verified by comparing the simulation results.

This paper studies the controller design for automatic steering of vehicles tracking a desired path. A nonlinear model with coupled inputs is considered and a suitable transformation is applied to deal with the nonlinearities. Nonlinear sliding surfaces are designed using Lyapunov approach to deal with the nonlinear effects. Simulation results are given to show that the designed controller is effective.