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This paper proposes a feedback linearizing law for single-track dynamicmodels, allowing the design of a trajectory tracking controller exploitinglinear control theory. The main characteristics of this algorithm are itssimplicity, its independence from any vehicle model parameter, apart from theposition of the center of mass, and its robustness. In particular, a numericalbifurcation analysis demonstrates that, for physically meaningful values of thecenter of mass deviation, the equilibrium is structurally asymptoticallystable. Experimental results, concerning the linearising law and itsapplication as inner loop of a trajectory tracking controller, are alsopresented, confirming the effectiveness of the proposal.

A feedback linearisation algorithm for single-track models with structural stability properties