Sliding-mode controller for four-wheel-steering vehicle: Trajectory-tracking problem

A solution to trajectory-tracking control problem for a four-wheel-steering vehicle (4WS) is proposed using sliding-mode approach. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering and to a tracking velocity that is not necessarily constant. The sliding-mode approach make the solutions robust with respect to errors and disturbances, as demonstrated by the simulation results.