Motion Trajectory Tracking Method for Vehicle Steering Based on Dynamic Surface Control

Focus on the problem of steering trajectory tracking, a tracking control law based on dynamic surface is proposed. Other than existing methods, this paper considers combined lateral position and yaw synchronously control. The first order low pass filter is used to obtain the differential items of the lateral position and yaw, so as to eliminate the high order derivative from the final expression of the close loop law. This characteristic is very useful especially in real applications. The Lyapunov approach is employed to analysis the stability of the tracking system, and the convergence of the system is achieve. Simulation result validates the outstanding effectiveness of the proposed method for steering trajectory tracking.