Trajectory tracking control of a vehicle with a large sideslip angle

We propose a trajectory tracking control algorithm for a vehicle with a large sideslip angle. The proposed algorithm was designed on the basis of a vehicle´s planar motion using a four-wheel vehicle model. The proposed algorithm controls the vehicle´s position and attitude by integrating the motion control algorithm for a vehicle with a large sideslip angle into the trajectory tracking algorithm for a mobile robot. The proposed algorithm was implemented into an experimental system and the results verify its effectiveness.