Automatic Parking Control of Unmanned Vehicle Based on Switching Control Algorithm and Backstepping

This article presents a simple control method for the fully automatic parking of an unmanned vehicle. is based on switching algorithm and backstepping theory. The hard to accomplish since it cannot converge specified norm, guarantee convergence rate, large uncertainties. Global exponential any prescribed norm bound ($\epsilon$-convergence) guaranteed, rate explicitly given. For design steering laws, proposed analyzed in detail. backstepping-based multichain system obtained. Moreover, exponentially $\epsilon$-convergent adopted both rate. Real road experiment results are presented show effectiveness strategies.