This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its independence from any vehicle model parameter, apart from the position of the center of mass, and its robustness. In particular, a numerical bifurcation analysis demonstrates that, for physically meaningful values of the center of mass deviation, the equilibrium is structurally asymptotically stable. Experimental results, concerning the linearising law and its application as inner loop of a trajectory tracking controller, are also presented, confirming the effectiveness of the proposal.

中文翻译：

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具有结构稳定性特性的单轨模型的反馈线性化算法

本文提出了单轨动态模型的反馈线性化定律，允许利用线性控制理论设计轨迹跟踪控制器。该算法的主要特点是简单、独立于任何车辆模型参数，除了质心的位置外，还具有鲁棒性。特别是，数值分岔分析表明，对于质心偏差的物理意义值，平衡在结构上是渐近稳定的。还介绍了关于线性化定律及其作为轨迹跟踪控制器内环的应用的实验结果，证实了该建议的有效性。