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Unified Control Design for Autonomous Vehicle 327

desired multiplier for steering angle p are studied analytically for stable track-
ing. The derived sufficient conditions of l, p, λ, and ξ can ensure the tracking
stability of vehicle following, are simple to choose, and take into account the
physical limitations of practical car-like vehicle designs. Extensive numerical
simulations also demonstrate the effectiveness of the developed controller and
the effects of these design parameters on the tracking performance in various
maneuvers.

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