@inproceedings{902e594c33aa4ac8bb84426a951afcce,
title = "Path Tracking Dynamics Control for All-Wheel Steering Unmanned Ground Vehicle and Experimental Validation",
abstract = "In this paper, a lateral dynamics controller for path tracking is proposed for all-wheel steering UGV. The controller is based on feedforward-feedback control strategy and zero sideslip angle strategy to improve both the path tracking and steering stability performance. The stability analysis of the closed-looped error dynamics is conducted based on pole location analysis method, which show that the controller remains stable against parameters uncertainties in most conditions except for rear tire saturation. Finally, a all-wheel steering UGV is used to validate the proposed controller. The autonomous driving experiments prove that the proposed controller successfully achieves the designed control goal, while improving both the path tracking and steering stability performance.",
keywords = "UGV, all-wheel steering, path tracking, pole location analysis, vehicle dynamics control",
author = "Taipeng Wang and Yuzhuang Zhao",
note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 17th IEEE Conference on Industrial Electronics and Applications, ICIEA 2022 ; Conference date: 16-12-2022 Through 19-12-2022",
year = "2022",
doi = "10.1109/ICIEA54703.2022.10006331",
language = "English",
series = "ICIEA 2022 - Proceedings of the 17th IEEE Conference on Industrial Electronics and Applications",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "404--409",
editor = "Wenxiang Xie and Shibin Gao and Xiaoqiong He and Xing Zhu and Jingjing Huang and Weirong Chen and Lei Ma and Haiyan Shu and Wenping Cao and Lijun Jiang and Zeliang Shu",
booktitle = "ICIEA 2022 - Proceedings of the 17th IEEE Conference on Industrial Electronics and Applications",
address = "United States",
}