A fixed-time nonsingular terminal sliding mode control based on radial basis function neural network for vehicle active front steering system

Abstract

In our work, a novel fixed-time nonsingular terminal sliding mode controller is developed to improve the control performance for the active front steering system of electric vehicles. First, the sliding mode surface and the sliding mode convergence law are constructed so that the sliding variable can be stabilized to zero at a fixed time. Moreover, the radial basis function neural network is introduced to estimate the systematic uncertainties, which can make the system have stronger anti-disturbance ability. The Lyapunov analysis also is given to verify the fixed-time stability of the whole system. The presented control scheme possesses two appealing advantages, including the strong robustness to perturbations and the fixed-time convergence to zero. Notably, the settling time is independent of the initial value while only related to the controller parameters. Through the joint simulation of CarSim and MATLAB, the given controller is compared with the conventional sliding mode controller and nonsingular terminal sliding mode controller to demonstrate the plausibility and validity of the presented control strategy.