| Trajectory-Tracking Control of Autonomous Vehicles with Dynamic Nonlinear Coupling Characteristics and Parameter Uncertainty |
| Lun Li1,2, Deping Wang2, Zhicheng Chen1, Bing Zhu1, Jian Zhao1, Haiqiao Li1, Jiayi Han1, Dongjian Song1, Peixing Zhang1 |
1National Key Laboratory of Automobile Chassis Integration and Bionics, Jilin University, Changchun, 130025, China
2China FAW Group Corporation, Changchun, 130000, China |
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Received: June 2, 2025; Revised: August 1, 2025 Accepted: August 9, 2025. Published online: September 1, 2025. |
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| ABSTRACT |
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In this paper, a longitudinal and lateral coupled trajectory-tracking controller for autonomous vehicles is proposed. First, a trajectory-tracking model with system parameter uncertainty and dynamic nonlinear coupling characteristics is modeled and analyzed. We design a triple-step nonlinear controller and introduce a parameter adaption law to address the nonlinear coupling between the longitudinal and lateral dynamics of the vehicle. This approach not only reduces CPU usage but also effectively overcomes disturbances caused by system parameter uncertainty. We evaluated the controller through hardware-in-the-loop (HiL) tests. The experimental results show that the proposed controller achieves higher precision and delivers smoother, more stable performance compared to the linear quadratic regulator (LQR), linear parameter-varying (LPV) H∞ robust and adaptive model predictive control (AMPC) methods. |
| Key Words:
Autonomous vehicles · Trajectory-tracking control · Vehicle system dynamics · Adaptive triple-step nonlinear method |
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Corresponding Author.
Zhicheng Chen , Email. 
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