Trajectory tracking control for intelligent vehicle based on the Euler-Lagrange systems

In this paper, an improved trajectory tracking control law is proposed for a four-wheel differential nonholonomic drive intelligent vehicle. Based on the kinematics model and Euler-Lagrange (EL) system of the vehicle, the control laws adopt an improved typical backstepping method to design the kinematics controller and a fast terminal sliding mode technique to devise the dynamic control law, which can completely track the desired trajectory in finite time. The system is global asymptotic stability by Lyapunov theory and the parameters are optimized through the pole assignment method when the vehicle is near the reference trajectory. Finally, simulations demonstrate the effectiveness and correctness of the proposed control strategy.