{"title":"Collision-avoidance steering control for autonomous vehicles using fast non-singular terminal sliding mode","authors":"Zhe Sun, Jiayang Zou, Guangqi Xu, Defeng He, Wei Zhu","doi":"10.1109/CVCI51460.2020.9338491","DOIUrl":null,"url":null,"abstract":"In this paper, a fast nonsingular terminal sliding mode (FNTSM) control scheme is developed for autonomous vehicles' collision-avoidance steering control. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle's fundamental lateral dynamics in path-tracking behavior. Afterwards, an FNTSM controller is designed, where the control system's stability is proved by means of Lyapunov. Finally, MATLAB-Carsim co-simulations are carried out for the aim of testing the control performance. Simulation results illustrate that the proposed FNTSM control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate, and stronger robustness in comparison with a nonsingular terminal sliding mode (NTSM) controller and a conventional sliding mode (CSM) controller.","PeriodicalId":119721,"journal":{"name":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2020-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CVCI51460.2020.9338491","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
In this paper, a fast nonsingular terminal sliding mode (FNTSM) control scheme is developed for autonomous vehicles' collision-avoidance steering control. First, a vehicle kinematic-and-dynamic model is established to describe the vehicle's fundamental lateral dynamics in path-tracking behavior. Afterwards, an FNTSM controller is designed, where the control system's stability is proved by means of Lyapunov. Finally, MATLAB-Carsim co-simulations are carried out for the aim of testing the control performance. Simulation results illustrate that the proposed FNTSM control algorithm possesses remarkable superiority reflected in higher tracking precision, faster convergence rate, and stronger robustness in comparison with a nonsingular terminal sliding mode (NTSM) controller and a conventional sliding mode (CSM) controller.
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