  When designing path tracking controllers for car-like vehicles, two main
aspects are the tracking performance and the characteristics of the actuation
signal. Our work bases on an existing variable structure controller that was
designed with the geometrically optimal solution of a Dubins car, but with
chattering on the output. In this contribution, we extend this approach to
achieve an actuation signal that is n-smooth and differentially bounded. While
the global stability under matched disturbances is maintained, the finite time
reaching behavior is exchanged for asymptotic convergence. With the $n$-smooth
output, n new parameters are introduced, weighing the control characteristics
between the tracking performance and the magnitude of the steering angles
derivatives. The controller is also evaluated in simulation, demonstrating the
tuning capabilities, as well as the reaching and tracking behavior. The main
contribution of this work is a control law designed to produce a smooth
steering angle with implicit satisfaction of bounds on its derivatives.
