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Trajectory tracking control for 6WID/4WIS UGV via nonlinear sliding mode-model predictive control with adaptive following steering and dynamic-static constraints
Shengyang Lu, Guanpeng Chen, Lijing Zhao, Yue Jiang, Xiaojun Xu
Robotics and Autonomous Systems · 2026
Keywords
trajectory trackingsliding mode controlmodel predictive controlUGVadaptive steering
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