Trajectory Tracking of Intelligent Vehicles Based on Decoupling Performance

  • Jianrui Wu
  • Yingmin JiaEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


This paper presents a novel method to achieve trajectory tracking of intelligent vehicles. Both kinetic control and kinematical control are considered in the design procedure, which are called execution layer and decision layer respectively. In the execution layer, input-output decoupling is applied to velocity-varying 4WS vehicles kinetic model. As a result, 3-DOF movements of vehicles can be tracked independently. In the decision layer, the trajectory tracking error model is used to design the desired movements of intelligent vehicles based on sliding mode control. Finally, the two layers can be combined into a system. The simulation results show the system can make the intelligent vehicles track a certain trajectory accurately.


Intelligent vehicles Trajectory tracking Decoupling control Sliding mode control 


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.The Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical EngineeringBeihang University (BUAA)BeijingChina

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