@article{wang2021spatial,
    title={Spatial path tracking controllers for autonomous ground vehicles: Conventional and nonconventional schemes},
    author={Wang, Peng and An, Di and Chen, Ning and Chen, Yang Quan},
    journal={Guidance, Navigation and Control},
    volume={1},
    number={01},
    pages={2150003},
    year={2021},
    publisher={World Scientific}
  }