Slip-Based Nonlinear Recursive Backstepping Path Following Controller for Autonomous Ground Vehicles
Ming Xin,Kai Zhang,David Lackner,Mark A. Minor,Ming Xin,Kai Zhang,David Lackner,Mark A. Minor
Path following accuracy and error convergence with graceful motion in vehicle steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds. This work is founded upon slip-based kinematic and dynamic models, which allow derivation of controllers considering error due to sideslip and the mapping between steering commands and gracefu...
