“…In the past few years, numerous control techniques have been studied to address the problem of trajectory tracking in autonomous vehicles. The existing control methods, such as sliding mode control (SMC) [ 3 , 4 , 5 ], robust control [ 6 ], model predictive control (MPC) [ 7 , 8 , 9 , 10 , 11 , 12 ], the linear quadratic regulator (LQR) [ 13 , 14 , 15 , 16 , 17 , 18 , 19 , 20 , 21 ], and the classic PID control [ 8 , 19 ], were proposed to pursue the task of lateral and longitudinal control. However, most of these studies aimed to address the lateral and longitudinal control separately.…”