This simulation implement a dynamic model (single track model) and control algorithm (based on virtual vehicule approach) of
a car-like robot.
Matlab r2021a at least.
Open the file single_track.slx in simulink and run.
A gif file (called "test.gif") is generated automatically in the current working directory at the end of the simulation.
[1] M. Egerstedt, X. Hu and A. Stotsky, "Control of a car-like robot using a dynamic model," Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), 1998, pp. 3273-3278 vol.4, doi: 10.1109/ROBOT.1998.680943.
[2] G. M. Hoffmann, C. J. Tomlin, M. Montemerlo and S. Thrun, "Autonomous Automobile Trajectory Tracking for Off-Road Driving: Controller Design, Experimental Validation and Racing," 2007 American Control Conference, 2007, pp. 2296-2301, doi: 10.1109/ACC.2007.428278