Abstract
The longitudinal-lateral 3-dof dynamic of automated vehicles is described by a nonlinear model which is underactuated with. respect to the yaw angle. A nonlinear transformation of a vehicle dynamics is adopted to solve the positioning problem at high driving speed. We first prove that the system is small time locally controllable from any equilibrium. For the underactuated system we show that the nonlinear model can be locally-exponentially stabilized by a smooth time-varying control law. The simulation results are presented to illustrate the control strategies.