Abstract This paper is concerned with the automated lane following of heavy-duty vehicles in the context of automated highway systems. The problem is formulated in the road reference coordinate frame for a tractor-semitrailer system. Two robust control schemes are studied: one is based on the sliding mode control (SMC) and the other is adaptive robust control (ARC) which is an enhanced version of SMC with parameter adaptation. ARC achieves smaller tracking errors and better performances under both modeling and parametric uncertainties. The concept of virtual look ahead distance is discussed and it is shown that larger look ahead distances render smoother system dynamics while sacrificing trajectory tracking accuracy.
M. Tai, M. Tomizuka
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