# Robust hierarchical controller with conditional integrator based on small gain theorem for reference trajectory tracking of autonomous vehicles

> Research article (Vehicle System Dynamics, 2018) · cited 23× · AI/ML

**Wikidata**: [openalex:W2906900473](https://www.wikidata.org/wiki/openalex:W2906900473)  
**Source**: https://4ort.xyz/entity/robust-hierarchical-controller-with-conditional-integrator-based-on-small-gain-theorem-for-reference-trajectory-tracking