Embedded control architecture for reference tracking of an automobile with actuated steering and brake systems

This paper presents the design of low-level controllers for the steering system actuator and the trajectory-tracking control for a Jeep Cherokee model 2000. A black-box identification was used to obtain the parameters of an ARX mathematical model of the steering system using the least-squares method. Then, the position controller for the steering system was designed using the Super-Twisting Algorithm. Thus, based on the same control strategy a trajectory-tracking control was designed to suppress the lateral error from the longitudinal axis of the test vehicle to the reference path. The trajectory-tracking control was validated with simulations including the steering position control to obtain a better approach than if the dynamic behavior of the steering system was not considered. This trajectory-tracking simulation was tested under a curved path scenario. Simulations for the position controller of the steering system are presented.