Fully Actuated System Approach for Vehicle Lateral Control

This paper introduces the fully actuated system (FAS) approach to the field of vehicle control, aiming to design a vehicle lateral motion controller that is simple to implement and provides high control accuracy. By solving for the angular velocity in vehicle dynamics and substituting it into the lateral error equation, we obtain the FAS model of the vehicle. Based on this model, we design an effective FAS controller. Through numerical simulations, we verify the effectiveness of the proposed controller. The results demonstrate excellent tracking performance with lateral error less than 1 cm and reasonable control effort, indicating the controller's potential as a viable solution for vehicle lateral control applications.