Backstepping control for lateral guidance of all-wheel steered multiple articulated vehicles

This paper describes the design of a backstepping controller for lateral guidance of all-wheel steered, multiple articulated vehicles. The design of the controller is based on a nonlinear dynamic vehicle model that describes all the degrees of freedom of the vehicle in the horizontal plane. The lateral and yaw dynamics are extracted from this model in order to design the controller. Simulation results are shown for a double articulated vehicle entering curves with different radii and at different speeds and for a double articulate vehicle subjected to a disturbance force due to wind. For these simulations, it was assumed that all vehicle parameters were known exactly.