In this paper, a hierarchical three-layer control structure is presented for the vehicles path following. In the first layer, a Lyapunov-based control law is proposed for determining forces and torque required at the vehicles center of gravity that guarantees the convergence of tracking errors. Then, a feasible formulation is developed to distribute the longitudinal and lateral forces of the wheels. Each wheels forces are distributed in such a way that prevents saturation of that tire. In the third layer, a robust sliding mode control is developed to determine the driving/braking torques of each wheel. Finally, a co-simulation is performed using Carsim and MATLAB/Simulink to evaluate the performance of the proposed control system. The results show that the proposed algorithm is capable of tracking the desired values of the lateral position, velocity, and yaw angle. The Comparison between the proposed control system and two other studies in two different paths including lane-change and two-turn path close to the vehicles handling limit is carried out. Our proposed method shows more promising results in terms of root mean square of error criterion than the other two methods. In addition, the proposed controller is able to provide the actuator commands of each wheel properly, despite the parametric uncertainties.

中文翻译：

---

基于李亚普诺夫的轮毂电机电动自动驾驶车辆轨迹跟踪控制系统设计

本文提出了一种用于车辆路径跟踪的分层三层控制结构。在第一层中，提出了基于李亚普诺夫的控制律来确定车辆重心处所需的力和扭矩，以保证跟踪误差的收敛。然后，开发了一种可行的公式来分配车轮的纵向和横向力。每个车轮的力分布方式可以防止轮胎饱和。在第三层中，开发了鲁棒的滑模控制来确定每个车轮的驱动/制动扭矩。最后，使用 Carsim 和 MATLAB/Simulink 进行联合仿真，以评估所提出的控制系统的性能。结果表明，该算法能够跟踪横向位置、速度和偏航角的期望值。将所提出的控制系统与其他两项研究在接近车辆操纵极限的两种不同路径（包括变道和两转弯路径）中进行了比较。我们提出的方法在误差标准均方根方面显示出比其他两种方法更有希望的结果。此外，尽管存在参数不确定性，所提出的控制器仍能够正确提供每个车轮的执行器命令。