Continuous Robust Trajectory Tracking Control for Autonomous Ground Vehicles Considering Lateral and Longitudinal Kinematics and Dynamics via Recursive Backstepping
Ming Xin,Yue Yin,Kai Zhang,David Lackner,Zhongchao Ren,Mark Minor,Ming Xin,Yue Yin,Kai Zhang,David Lackner,Zhongchao Ren,Mark Minor
Maintaining lateral and longitudinal trajectory tracking accuracy is challenging for autonomous ground vehicles (AGVs). This paper considers kinematics and dynamics of longitudinal and lateral motion to form a novel composite structure considering the cross-impacts of acceleration and steering commands on tracking errors in the lateral and longitudinal directions, respectively. The multi-tiered st...
