We propose a trajectory tracking control algorithm for a vehicle with a large sideslip angle. The proposed algorithm was designed on the basis of a vehicle's planar motion using a four-wheel vehicle model. The proposed algorithm controls the vehicle's position and attitude by integrating the motion control algorithm for a vehicle with a large sideslip angle into the trajectory tracking algorithm for a mobile robot. The proposed algorithm was implemented into an experimental system and the results verify its effectiveness.
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Nakano et al. (2015) studied this question.
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