Vehicle tracking control method based on immersion and invariant manifold

The invention discloses a vehicle tracking control method based on immersion and invariant manifold. The method comprises the following steps: designing an immersion and invariant manifold parameter estimator; designing an immersion and invariant manifold transverse tracking controller; training the RBF neural network; the RBF neural network compensates the additional front wheel rotation angle; and summing the front wheel steering angle and the additional front wheel steering angle to obtain a front wheel steering angle control instruction so as to control the vehicle. According to the method, the target acceleration is estimated by adopting an immersion and invariant manifold estimation method, the control law is designed, the system error during vehicle modeling is reduced, the front wheel steering angle is compensated through the RBF neural network, the steady-state error of controller design is reduced, and the trajectory tracking precision is further improved. 本发明公开了一种基于浸入与不变流形车辆跟踪控制方法，包括：浸入与不变流形参数估计器设计