Robust sliding mode control of 4WS vehicles for automatic path tracking

  title={Robust sliding mode control of 4WS vehicles for automatic path tracking},
  author={Qunzhi Zhou and Feiyue Wang and Linjing Li},
  journal={IEEE Proceedings. Intelligent Vehicles Symposium, 2005.},
This paper investigates the use of four-wheel steering system (4WS) for the automatic vehicle control in the context of path tracking. The 4WS vehicle is assumed to be set up in a previously studied look-down reference system with sensors installed on the vehicle's front and rear bumpers to measure its lateral displacements from the reference path. Past research in the path tracking control have showed the difficulties to design a controller that is robust against the intensive vehicle modeling… CONTINUE READING
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