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초록

This paper presents a robust motion control of a vehicle system subjected to parameter uncertainties. The dynamic model is established by considering parameter variations such as tire friction and moment of inertia. The variable structure structure theory which ha s an inherent robust property to system uncertainties is adopted herein to design a sliding mode controller. All of states are estimated through the full-order Luenberger observer. Compuer simulations are undertaken to demonstrate superior lane tracking control of the vehicle system.