Abstract:This paper presents a new control algorithm for the coordinated path following problem of car like vehicles. The vehicles are represented by an extended kinematic bicycle model which includes sideslip angles. A nonlinear control law has been designed using Lyapunov approach, and the controller implementation requires knowledge of sideslip angles. A Raghavan observer is introduced in order to observe the vehicle sideslip angles that are typically not directly measured in practice. Trajectory tracking tasks, suc… Show more
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