DEVELOPMENT OF A CONTROL STRATEGY FOR ACCURATE PATH TRACKING OF INTELLIGENT VEHICLE SYSTEMS 2019-01-0677

This paper deals with the design of a controller for path tracking of intelligent vehicle systems. A dynamic model of the system is developed in state-space format that includes equations for position and orientation errors generated during path tracking of the vehicle. A control strategy is developed that controls steering angle as a function of posture errors. Performance of the vehicle in accurate tracking of the desired trajectory is presented by simulation results.