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MME-EKF-Based Path-Tracking Control of Autonomous Vehicles Considering Input Saturation
2019
IEEE Transactions on Vehicular Technology
This paper investigates the path-tracking control issue for autonomous ground vehicles with the integral sliding mode control (ISMC) considering the transient performance improvement. The path-tracking control is converted into the yaw stabilization problem, where the sideslip-angle compensation is adopted to reduce the steady-state errors, and then the yaw-rate reference is generated for the path-tracking purpose. The lateral velocity and roll angle are estimated with the measurement of the
doi:10.1109/tvt.2019.2907696
fatcat:txfhteitj5d3rnkkpo5fuc422y