Adaptive Backstepping Path Following Control of Autonomous Ground Vehicles with Sideslip Effects

Abstract

This paper presents an adaptive backstepping path tracking controller design approach of autonomous ground vehicles (AGVs). The path tracking model of the AGV is converted into a nonlinear system through chain form transformation, whose states are estimated by an adaptive observer considering both actuator effectiveness loss and tire sideslip effects. A backstepping control strategy is then proposed which guarantees that the closed-loop system is stable and system signals are uniformly ultimately bounded. Simulation shows the advantage of the control method proposed.