This document summarizes a research paper that models the dynamics of a vehicle and designs a fuzzy logic controller (FLC) for trajectory tracking. It presents: 1) Kinematic and dynamic models of a vehicle with four wheels and two steering wheels. Lagrange's equations are used to derive the dynamic model. 2) An FLC with distance and angle errors as inputs and additional steering angle as the output. A rule base is designed based on prior research. 3) Simulation results showing the vehicle tracking a sinusoidal trajectory within error thresholds for position, angle, and velocity. The FLC is effective for trajectory tracking, with errors not exceeding specified thresholds. This demonstrates fuzzy logic is well-su