The results of an experimental work on the lateral control of a full-scaled vehicle are reported in this paper. Two control algorithms were tested, a simple PID controller to serve as the baseline, and an optimal preview controller, which was developed to improve the tracking performance, ride quality and robustness of the system. The theoretical development and the experimental setup are briefly discussed, followed by some experimental results.
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Peng et al. (1992) studied this question.
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