抄録
In this study, the four-wheel steering to handle follow-up control of a bus lane. Vehicles with two goals before and after the course and to detect a deviation, according to Difference around the steering wheel angle for separately. In the current system with PID control, but the road running by Kant, such as disturbance of the difficulty of improving results. Therefore, control of multi-input multiple-output system in recent years, researchers have been getting a lot Sliding-Mode have tried to apply control.
