Table 5 Indicators of tracking error using different controllers in condition C.

RMSE \(\left\{ {e_{d} } \right\}\)\(\left( m \right)\)

0.19966

0.23786

0.2796

RMSE \(\left\{ {e_{\psi } } \right\}\)\(\left( {rad} \right)\)

0.01409

0.01533

0.01872

RMSE \(\left\{ {e_{{v_{x} }} } \right\}\)\(\left( {km/h} \right)\)

0.05995

0.09431

0.08658

MAX \(\left\{ {\left| {e_{d} } \right|} \right\}\)\(\left( m \right)\)

0.78287

0.82331

0.95844

MAX \(\left\{ {\left| {e_{\psi } } \right|} \right\}\)\(\left( {rad} \right)\)

0.05566

0.05635

0.06627

MAX \(\left\{ {\left| {e_{{v_{x} }} } \right|} \right\}\)\(\left( {km/h} \right)\)

0.34628

0.29241

0.21898