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Robust Nonlinear Control Using Barrier Lyapunov Function Under Lateral Offset Error Constraint for Lateral Control of Autonomous Vehicles.
Yunhyoung Hwang
Chang Mook Kang
Wonhee Kim
Published in:
IEEE Trans. Intell. Transp. Syst. (2022)
Keyphrases
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lyapunov function
autonomous vehicles
control method
robust stability
optimal control
control system
sufficient conditions
robot control
long range
nonlinear systems
tracking error
learning algorithm
robotic systems