Automatic steering control of unmanned vehicles

Abstract

The problem of robust automatic steering of an autonomous unmanned vehicle is studied. The problem is solved using a robust P-D feedback controller feeding back the path error and the front steering angle. The design goal is to follow accurately a desired path independently from the presence of a possible disturbances (wind forces acting on the aerodynamic center of the side surface of the vehicle) and uncertainties (road, mass and velocity uncertainties). Additionally robust stability of all system variables is required. It is proven that the design requirements can always be satisfied via appropriate P-D feedback. The present results appear to be beneficially for worksite and agriculture vehicles. The results are illustrated via simulation for the path of a tractor during tilling.