Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities

<table>The tracking errors between real yaw rate and desired yaw rate of the open-loop system, closed-loop systems with designed ARC controller for different vehicle masses.</table>

Shock and Vibration

fig7

Figure 7

Figure 7: Robust Tracking Control for Vehicle Lateral Dynamics with Uncertain Parameters and External Nonlinearities 