Tracking Control of Autonomous Vehicles via I-O Linearization and Backstepping Method with ISMC

This paper proposes a nonlinear tracking controller for autonomous vehicles. The dynamic model used for controller design is nonlinear without the assumption of constant forward speed. The controller with two control inputs (steer angle and traction force) is developed by employing input-output linearization where the outputs are the forward speed and yaw rate of the vehicle, integral sliding mode control (ISMC) for robustness, and backstepping method.