Path tracking control of vehicles based on Lyapunov approach

This paper studies the controller design for automatic steering of vehicles to track the desired path. The desired path is a general curved road. The nonlinear model with coupled inputs is considered. A suitable transformation is applied to decouple the inputs. Here, no assumption of small angle is used and no nonlinearly coupling term of the model is ignored. A controller based on Lyapunov approach is derived to handle this complex system. Simulation results show that the designed controller is effective.