Path following of autonomous vehicles in the presence of sliding effects

Shai A. Arogeti, Nadav Berman

Research output: Contribution to journalArticlepeer-review

61 Scopus citations


In this paper, a new controller for the path-following problem of a car-like autonomous vehicle is proposed. This controller is based on a new transformation that, for the case of roll with no slip, transfers the model to a chain form. However, in many practical cases, due to the strong effects of tire slip angles, a roll with no slip assumption is invalid. To cope with the presence of slip, a novel controller is proposed. The new method is based on a vehicle kinematical model, where the tire slip angles are taken into account. The control design method utilizes a peak-to-peak criterion and linear matrix inequality (LMI) tools to attenuate tire slip angle effects on the closed-loop performance.

Original languageEnglish
Article number6148297
Pages (from-to)1481-1492
Number of pages12
JournalIEEE Transactions on Vehicular Technology
Issue number4
StatePublished - 22 May 2012


  • Autonomous vehicles
  • linear matrix inequality (LMI)
  • path following
  • peak-to-peak L control

ASJC Scopus subject areas

  • Automotive Engineering
  • Aerospace Engineering
  • Electrical and Electronic Engineering
  • Applied Mathematics


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