This paper studies the motion control problem of an autonomous vehicle. The problem of the motion control is to control the driving mechanism of the vehicle automatically to track a desired path which may be prescribed or generated on line. A nonlinear two-dimensional wheeled-vehicle model is used. Both linear control and nonlinear state feedback controls are designed for the vehicle to track a circular path when initial disturbances exist. The results show that when the initial disturbance is small, the linear control works well. However, when the initial disturbance is large, nonlinear control has to be used. As a matter of fact, the controller designed in this paper works even when the initial condition is very far away from the desired trajectory.
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