Nonlinear automatic steering control of vehicles based on Lyapunov approach

This paper studies the velocity control problem for automatic steering of vehicles. The nonlinear model with coupled inputs is investigated. The triangle function terms of the steering angle in the model are considered. Instead of ignoring the nonlinearly coupling term of the model, here, a suitable transformation is applied to deal with the inputs. A controller based on Lyapunov approach is derived to handle this complex system. Simulation results show that the designed controller is effective.