Lateral motion control of four-wheels steering vehicle using a sliding-mode controller

In this paper a lateral motion control using a sliding-mode controller (SMC) for four-wheels driving and steering (4WDS) vehicle is presented. The lane centerline following by look-ahead techniques is main control performance. The dynamic model of a linear 2 DOF bicycle mode has been taken into account. The advantage of this controller over current control procedure is that it is applicable to a large class of vehicles with single or double steering. The effectiveness of the proposed sliding-mode controller is demonstrated by closed-loop simulation results for 4WDS Seekur robot base.