Theses and Dissertations - UTRGV

Date of Award


Document Type


Degree Name

Master of Science (MS)


Electrical Engineering

First Advisor

Dr. Wenjie Dong

Second Advisor

Dr. Hasina Huq

Third Advisor

Dr. Alexander Domijan


Safety is undoubtedly the most critical design requirement regarding autonomous vehicle controllers. This research considers an autonomous vehicle to keep a desired distance from the leader vehicle, as well as stay centered within the lane. To achieve this, the lateral control problem and the combined longitudinal and lateral control problem were studied. Adaptive control laws were proposed with the aid of the backstepping technique and the barrier function technique. Simulation was done to verify the effectiveness of the proposed control laws.


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