Antisideslip and Antirollover Safety Speed Controller Design for Vehicle on Curved Road

Figure 5

Trajectory tracking errors with different 𝜑.

(a) Trajectory tracking error with 𝜑=0.2

(b) Trajectory tracking error with 𝜑=0.3

(c) Trajectory tracking error with 𝜑=0.4

(d) Trajectory tracking error with 𝜑=0.6