Abstract
This paper describes a new Autonomous Ground Vehicles (AGVs) trajectory tracking control system towards safe and high-speed operations enabled by incorporating Vehicle Dynamics Control (VDC). The system consists of an AGV desired yaw rate generator based on a kinematic model, and a yaw rate controller based on the vehicle/tyre dynamic models. Sliding Mode Control (SMC) is used to handle the system uncertainties. The performance of the control system was evaluated by using a high-fidelity (experimentally validated) full-vehicle Sport Utility Vehicle (SUV) model provided by CarSim®. Compared with the results of position-error-based AGV control, significant performance improvement was observed.
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