The paper proposes a dynamic inversion based velocity tracking controller for four-wheeled road vehicles, that fits well into cooperating control systems. First, the dynamic inverse of the linear parameter varying (LPV) single-track model is constructed, and the global asymptotic stability of the zero dynamics is proved. Using the obtained stable inverse two controllers are designed depending on whether the yaw rate is measurable on not. In both cases the quadratic stability of the resulted closed-loop control structure is checked and proved. The dynamic properties of the proposed controllers are illustrated on simulation examples. A dynamic inversion based velocity tracking vehicle controllers were proposed in this paper, that .t into cooperative control framework as a lowerlevel controller. During controller design we proved that the zero dynamics of the road vehicle is globally asymptotically stable independently from the physical parameters. This made it possible for us to construct the dynamic inversion based controllers. Depending on whether the yaw rate is measurable or not we designed two controllers which yielded quadratically stable control structure in the case of an identified model of a heavy-duty vehicle. During the controller design the availability of a precise vehicle model was assumed. For the practical applicability the presented methods are expected to be robust against disturbances and modeling uncertainties. However the increase of robustness of the dynamic inversion based controllers is generally a complex problem, which requires further researches. As it was mentioned above the results of this paper will be applied in a cooperative control framework. The vehicle with the designed lowerlevel controller, as an autonomous agent, will be inserted into a formation control hierarchy, where the motion of the agents is coordinated by higherlevel control algorithms. The stability properties of the obtained connected dynamical system will be investigated by the tools of dissipative system theory.