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A surface control law is derived for combined lateral and longitudinal vehicle control. An integrated approach is stressed and the coupling effects between the lateral and longitudinal forces and motions are investigated. Simulation results are presented, and the tracking performance and ride quality are shown to compare favorably against a linear optimal controller.
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Hung Pham
Centre National de la Recherche Scientifique
Karl Hedrick
University of California, Berkeley
Masayoshi Tomizuka
University of California, Berkeley
University of California, Berkeley
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Pham et al. (Thu,) studied this question.
synapsesocial.com/papers/6a1c5a85666b677c61a953d1 — DOI: https://doi.org/10.1109/acc.1994.752247