Design and Comparative Evaluation of Path-Tracking Controllers Using Reduced-Order State-Space Models
Year: 2026
Type: article
Abstract: This study presents a comparative evaluation of path-tracking controllers designed from reduced-order state-space vehicle models. A four-state state-space model is formulated from the bicycle-model dynamics and target-path geometry, where the state variables are the previewed lateral error, heading error, side-slip angle, and yaw rate. To reduce the dependence on variables that are difficult to obtain in practice, a three-state model is derived by eliminating the explicit side-slip dynamics, and a two-state model is further obtained by replacing the yaw-rate dynamics with a kinematic approximation. Based on these three models, linear-quadratic regulator (LQR) controllers are designed. In addition, two linear quadratic static output-feedback (LQ SOF) controllers are constructed from the original four-state model by using reduced output sets. The five controllers are evaluated by vehicle simulations carried out in CarSim under front-wheel-steering and four-wheel-steering configurations. The results clarify the influence of controller structure and model order on path-tracking performance and identify the controller–actuator combination that provides the most favorable performance under the conditions considered.
Source: Electronics
Author: Seongjin Yim
Institution: Seoul National University of Science and Technology
Language: English
Subfield: Automotive Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W7154594072