Zhang, R., "Path Following of Skid Steering Vehicles Based on Line-of-Sight Navigation," SAE Technical Paper 2016-01-1871, 2016, doi:10.4271/2016-01-1871.
Path following controller of a six-wheel skid-steering vehicle is designed. The vehicle speed is controlled through engine speed control and the lateral vehicle steering is controlled through hydraulic braking on each side. Contrary to the common approaches considering non-holonomic constraints, vehicle dynamic characteristics and nonlinear characteristics of tire are considered. A hierarchical control structure is applied in this vehicle control system. The kinematic controller works out the reference yaw rate and reference vehicle speed. And a robust dynamic controller tracks the reference signal. In addition, the dynamic controller takes actuator ability into account.