Path Following Control for Military Automobiles using Dynamic Inversion Method

Abstract

A path following control is one of the most important technique for autonomous driving. This paper considers the path following problem using Dynamic Inversion (DI) method for military automobiles. The controller using DI is already used in the aviation research. The principle of DI is to replace the origin inherent dynamics with user-desired dynamics using model inversion. The automobile dynamics model is induced by a front wheel drive vehicle dynamics and equation of motion. An active front steering (AFS) system is an active safety device that improves handling and stability of a vehicle by controlling front steering. In this paper, the dynamic inversion method is proposed as a control technique for designing an AFS. The performance of the proposed DI controller for path following is evaluated by Matlab/Simulink simulation. The simulation results verified the effect of proposed controller.