California Partners for Advanced Transportation Technology

In this report, a combined longitudinal and lateral eighteen-state vehicle chassis, engine, and drive train model is developed and validated against existing longitudinal-only and lateral-only vehicle models. The full-size model is simplified to a three-state model to facilitate controller design. The control task in a combined maneuver is defined as the simultaneous regulation of the vehicle's longitudinal and lateral spacings through the application of throttle and steering. Two forms of a Sliding control law are derived based on the reduced order model. One version is decoupled in the longitudinal and lateral dynamics and forces, while the other retains the coupling terms. Nominal stability of the controllers is shown.