Control of the motion of a small-scale car with four steerable wheels

In this work, control laws are derived for a simple dynamical model of a car with fourwheels. A separate rotational torque acts on each wheel, while separate steering torques act on the front pair and rear pair of wheels. Thus, in the model dealt with here, the motion of the car is controlled by a total of six torques. A control law is developed for the car to perform a point-to-point maneuver. This maneuver is performed using three different control modes, that is, using six, five, and four control torques.