The first part of the presentation talks about the design of nonlinear lateral controllers for tractor-semitrailer vehicles on automated highway systems. Two different but closely related design approaches will be presented. One design proceeds along the line of uniformly ultimate bounded control, and the other along the line of sliding mode control. In either approach, the idea of feedback linearization is utilized to deal with nominal nonlinear dynamics of the tractor-semitrailer vehicles. Uncertain dynamics are treated differently in the two approaches. The second part examines implementation issues such as tuning of the controller parameters for the performance, sensor requirements, and the complexity of real time implementations.