Affiliation:
1. School of Information Science and Electrical Engineering, Shandong Jiaotong University, Jinan 250357, China
2. School of Control Science and Engineering, Shandong University, Jinan 250061, China
Abstract
This paper addresses the issue of external unknown environmental interference affecting the trajectory tracking performance and driving stability of autonomous vehicles. This seriously impacts the performance and stability of the vehicle while driving. In order to provide precise, reliable, and safe trajectory tracking performance for autonomous vehicles, this paper proposes a recursive integral terminal sliding mode control (RITSMC) method. The proposed RITSMC combines the advantages of recursive integral sliding mode (RISM), terminal sliding mode (TSM), and adaptive algorithms, and can effectively achieve precise trajectory tracking and driving stability of autonomous vehicles. Furthermore, compared with traditional methods, an adaptive algorithm is introduced on the recursive sliding surface to enable real-time adaptation of the control parameters of the recursive controller, further improving the trajectory tracking accuracy and driving stability of autonomous vehicles. The stability of this control system is demonstrated by using a Lyapunov function. Finally, multiple simulation tests were conducted on different lane speeds on both wet and dry asphalt road sections. By comparing the simulation results, it was found that the proposed RITSMC exhibits excellent performance in terms of the precision of tracking trajectories and the stability of driving, in contrast to traditional sliding mode controllers (SMC) and integral terminal sliding mode controllers (ITSMC).
Funder
National Natural Science Foundation of China
Shandong Provincial Natural Science Foundation
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering
Cited by
1 articles.
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