Land vehicle control using a command filtered backstepping approach

This article describes the derivation, design, and simulation implementation of a nonlinear controller for a non-holonomic vehicles in 2D space. The controller is designed using a command filtered, vector backstepping approach. This article focuses on the trajectory tracking capability. The trajectory tracking controller generates yaw and velocity commands. A yaw controller transforms the yaw commands to yaw rate commands. The velocity and yaw rate controller generates the two actuator force and torque commands to achieve the yaw rate and velocity commands. Each controller is nonlinear to address the kinematics and vehicle dynamics. The approach guarantees exponential stability of a compensated tracking error in the sense of Lyapunov. Both the stability analysis and simulation results are included.