By using the method of quasi-sliding mode, the variable structure control law for lane keeping was designed.
采用准滑模控制方法，设计车道保持变结构控制规律；
The sufficient conditions of sliding mode mean stability are given, and the variable structure control law can guarantee the sliding mode to have reachability.
文中给出了滑动模均方稳定的充分条件，所设计的变结构控制律能够保证滑动模具有可达性。
Under certain conditions, the designed variable structure control law makes the sliding mode along a specified sliding manifold invariable to the system perturbation and external disturbances.
在一定条件下，设计的滑动模控制律使得系统沿预先设计的滑动流形的滑动运动对系统的参数摄动和外干扰具有不变性。
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