Sliding Mode Based Robust Lateral Control for Autonomous Vehicles

2021 ◽  
Author(s):  
Shiv Charan Bhoi ◽  
Subrat Kumar Swain
Keyword(s):  
Autonomous Vehicles ◽  
Sliding Mode ◽  
Lateral Control

scholarly journals Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision

2013 ◽  
Vol 5 ◽  
pp. 216862 ◽  
Author(s):  
Linhui Li ◽  
Jing Lian ◽  
Mengmeng Wang ◽  
Ming Li
Keyword(s):  
Sliding Mode ◽  
Intelligent Vehicle ◽  
Lateral Control ◽  
Fuzzy Sliding Mode

Lateral Control for UAVs using Sliding Mode Technique

2011 ◽  
Vol 44 (1) ◽  
pp. 11121-11126 ◽  
Author(s):  
M. Zamurad Shah ◽  
R. Samar ◽  
A.I. Bhatti
Keyword(s):  
Sliding Mode ◽  
Lateral Control ◽  
Mode Technique ◽  
Sliding Mode Technique

scholarly journals System Modeling and Simulation of an Unmanned Aerial Underwater Vehicle

2019 ◽  
Vol 7 (12) ◽  
pp. 444 ◽  
Author(s):  
Yuqing Chen ◽  
Yaowen Liu ◽  
Yangrui Meng ◽  
Shuanghe Yu ◽  
Yan Zhuang
Keyword(s):  
Autonomous Vehicles ◽  
Water Resistance ◽  
Control Method ◽  
Sliding Mode ◽  
System Modeling ◽  
Environmental Disturbances ◽  
Model Method ◽  
Attitude Error ◽  
The Cross ◽  
Single Set

Unmanned Aerial Underwater Vehicles (UAUVs) with multiple propellers can operate in two distinct mediums, air and underwater, and the system modeling of the autonomous vehicles is a key issue to adapt to these different external environments. In this paper, only a single set of aerial rotors with switching propulsion abilities are designed as driving components, and then a compound multi-model method is investigated to achieve good performance of the cross-medium motion. Furthermore, some additional variables, such as water resistance, buoyancy and their corresponding moments are considered for the underwater case. In particular, a critical coefficient for air-to-water switching is presented to express these gradually changing additional variables in the cross-medium motion process. Finally, the sliding mode control method is used to reduce the altitude error and attitude error of the vehicles with external environmental disturbances. The proposed scheme is tested and the model is verified on the simulation platform.

scholarly journals Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller

2018 ◽  
Vol 233 (1) ◽  
pp. 141-151 ◽  
Author(s):  
Armin Norouzi ◽  
Milad Masoumi ◽  
Ali Barari ◽  
Saina Farrokhpour Sani
Keyword(s):  
Optimization Algorithm ◽  
Sliding Mode ◽  
Autonomous Vehicle ◽  
Lane Change ◽  
Lateral Control ◽  
Lane Changing ◽  
Dynamic Constraints ◽  
Bicycle Model ◽  
Double Lane Change ◽  
Backstepping Controller

In this paper, a novel Lyapunov-based robust controller by using meta-heuristic optimization algorithm has been proposed for lateral control of an autonomous vehicle. In the first step, double lane change path has been designed using a fifth-degree polynomial (quantic) function and dynamic constraints. A lane changing path planning method has been used to design the double lane change manoeuvre. In the next step, position and orientation errors have been extracted based on the two-degree-of-freedom vehicle bicycle model. A combination of sliding mode and backstepping controllers has been used to control the steering in this paper. Overall stability of the combined controller has been analytically proved by defining a Lyapunov function and based on Lyapunov stability theorem. The proposed controller includes some constant parameters which have effects on controller performance; therefore, particle swarm optimization algorithm has been used for finding optimum values of these parameters. The comparing result of the proposed controller with backstepping controller illustrated the better performance of the proposed controller, especially in the low road frictions. Simulation of designed controllers has been conducted by linking CarSim software with Matlab/Simulink which provides a nonlinear full vehicle model. The simulation was performed for manoeuvres with different durations and road frictions. The proposed controller has outperformed the backstepping controller, especially in low frictions.

Sign in / Sign up

Export Citation Format

Share Document