California Partners for Advanced Transportation Technology

This report presents two approaches to the design of the lateral controllers for commuter buses based on Sliding Mode Control (SMC). The objective of the control is to track the lane centerline. The first controller uses the sensor output which is a combination of yaw and lateral error. The second controller achieves tracking objective by providing a yaw rate to the vehicle so as to keep the lateral error dynamics stable. The two controllers are compared by performing simulations for a range of parameters.