Steering Control of a 4-wheeled Car with Steering Angle Constraint

D.Q. Minh, K.-Z. Liu, and A. Ogata (Japan)


Nonholonomic, Steering angle limitation, Exponential Stabilization Control


The control of position and orientation angle of 4 wheeled cars is the central part in the development of automatic parking systems which is going to play an important role in ITS. There have been many approaches to this problem from a viewpoint of application of nonholonomic control theory. But there are still some practical problems such as steering angle limitation that need to be addressed. In this paper, a method is proposed to deal with the steering control with a steering angle limitation. The basic idea is to contruct a target field of circles and let the car approach the circular target field that leads to the destination asymptotically.

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