Tracking control of vehicles using nonlinear model

Studies automatic operation of vehicles aiming at making the position and the attitude angle of four-wheeled vehicles follow target trajectories. A control theory which enables tracking of various routes is described by using a model which allows variable velocity. In this case the model is expressed as a nonlinear system. Since analytical evaluation of the performance is difficult for a nonlinear system, the control performance is evaluated through numerical simulations. This research focuses on two points: examination of the model with variable velocity, and evaluation of the control theory to follow a target trajectory controlling velocity of a vehicle.