Autonomous vehicle tracking control for a curved trajectory

Hasnawiya Hasan, Faizal Arya Samman, Muh Anshar, Rhiza S. Sadjad


Recently, research about trajectory tracking of autonomous vehicles has significantly contributed to the development of autonomous vehicle technology, particularly with novel control methods. However, tracking a curved trajectory is still a challenge for autonomous vehicles. This research proposes a state feedback linearization with observer feedback to overcome some difficulties arising from such a path. This approach suits a complex nonlinear system such as an autonomous vehicle. This method also has been compared with the linear-quadratic regulator (LQR) method. So, the goal of this research is to improve the control system performance of autonomous vehicles that are stable enough to navigate a curved path. Moreover, the study shows that the developed control law can track the curved path and solve existing problems. However, improvements are still necessary for the vehicle's performance and robustness.


Autonomous vehicle; Linear-quadratic regulator; Observer; State feedback linearization; Tracking control

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Bulletin of EEI Stats

Bulletin of Electrical Engineering and Informatics (BEEI)
ISSN: 2089-3191, e-ISSN: 2302-9285
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).