Adaptive super-twisting sliding mode steering control of autonomous ground vehicles under critical driving conditions: an integrated model-based design validation approach

Autonomous driving systems convert environmental perception into vehicle motion. This process relies on a layered architecture composed of perception, planning and control. Among these layers, the control is considered the primordial part because of its commands that are responsible for path tracking and ensuring stability.

https://www.nature.com/articles/s41598-026-65148-6