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Keywords
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Control invariant, disturbance decoupling, exponential stability, nonlinear lateral vehicle
dynamics, tracking control
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Abstract
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This paper addresses an augmented nonlinear lateral vehicle and lane keeping dynamics in
the presence of some unknown disturbances. In a geometric basin, considering unobservable spaces, their
orthogonal complements, and using control invariant properties, a disturbance decoupling mechanism is
designed for the mentioned dynamics. Afterward, a nonlinear tracking controller is designed to steer the
vehicle on a reference path. The obtained disturbance decoupling and tracking controllers are implemented
on a typical passenger car in a simulation environment to demonstrate the effectiveness and performance
of the proposed method. It is shown that the controller decouples both the uniformly distributed and
exponentially attenuated disturbances from the output.
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