摘要：AbstractThe dynamics of wheel slip plays an important role in generation of traction forces, responsible for driving a ground vehicle. It is important to take these dynamics into account while designing control laws, in order to ensure stability of the autonomous vehicle. In this paper, the longitudinal and lateral slip dynamics are modeled and incorporated in the vehicle model. The key contribution of this paper is the design of a nonlinear hierarchical controller to address the trajectory tracking problem in presence of combined longitudinal and lateral slip dynamics. A Lyapunov based analysis is used to guarantee stability of the closed-loop system. Simulation results are provided to demonstrate the efficacy of the proposed controller.
