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

Table 1

The model parameters of vehicle lateral systems.

Parameter	Value
𝑚	1100–1300 kg
𝐼𝑧max	1700 kgm^2
𝑐𝛼𝑓	20000 N/m
𝑙𝑓	1 m
𝑘𝑢𝑠	0.03
𝐼𝑧	1600 kgm^2
𝐼𝑧min	1500 kgm^2
𝑐𝛼𝑟	20000 N/m
𝑙𝑟	1.5 m
𝑣	20 m/s