论文部分内容阅读
An adaptive robust neuron network lateral path tracking control strategy is raised in order to solve the non-linear path tracking problem of the intelligent vehicle at high speed on curve roads.Additionally,a robust term is added to the control law so as to compensate the limit approximation ability of the designed neuron network.The stability of this controller is proven by lyapunov function.Simulation results indicate that the designed steering control strategy is with low tracking error and high stability.