Virtual-Point-Based asymptotic tracking control of 4WS vehicles

Changfang Chen, Minglei Shu, Ruixia Liu

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


This paper studies the lateral and longitudinal path tracking control of four-wheel steering vehicles. By the introduction of virtual points, a robust and adaptive path tracking control strategy is proposed to simultaneously counteract modeling uncertainties, unexpected disturbances, and coupling effects. An adaptive model-based feedforward adaptive term and the robust integral of the sign of the error (RISE) feedback term can be used to yield an asymptotic tracking result, which improve the tracking performance and reduce the control effort. The stability of closed-loop system is analyzed using a Lyapunov-based method. Simulation results are provided to demonstrate the performance of the proposed controller under different driving conditions.

Original languageEnglish
Pages (from-to)371-378
Number of pages8
JournalInternational Journal of Control, Automation and Systems
Issue number2
Publication statusPublished - 1 Apr 2015


  • Adaptive control
  • asymptotic stable
  • path tracking
  • robust integral of the sign of the error (RISE)
  • virtual point


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