Car-Like Ground Vehicle Trajectory Tracking by Using Trajectory Linearization Control

This paper focuses on trajectory tracking control for an under-actuated car-like ground vehicle. We consider the 3 degree-of-freedom nonlinear vehicle rigid-body dynamics with nonlinear tire traction force, nonlinear drag forces and actuator dynamics. The control structure employs multi-loop Trajectory Linearization Control (TLC) based on singular perturbation (time-scale separation) theory for exponential stability. The designed controller controls the longitudinal velocity and steering angle simultaneously to follow a feasible guidance trajectory. The paper presents the modeling and design approach with computer simulation results on a scaled-down model car.