“…Researchers in PATH conducted extensive studies on the lateral control of passenger vehicles (Patwardhan et al, 1997b;Patwardhan et al, 1997a;Peng and Tomizuka, 1993;Pham et al, 1994). In 1993, PATH initiated research program for heavy vehicles and since then there has been active research and steady progress covering modeling (Chen and Tomizuka, 1995;Tai and Tomizuka, 1998), system analysis (Wang and Tomizuka, 1998), controller designs (Wang and Tomizuka, 1999;Wang and Tomizuka, 2000;Tai and Tomizuka, 1999;Tai and Tomizuka, 2000) and experimentation (Hingwe et al, 1999).…”