Path planning and tracking control of an autonomous vehicle using extended state observer-based adaptive recursive terminal sliding mode
by Zhe Sun; Shengrui Li; Shuwang Du; He Ren; Bo Chen; Jinchuan Zheng; Zhihong Man
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 10, No. 3, 2023

Abstract: Obstacle avoidance is of great significance to autonomous vehicles. In this paper, an obstacle-avoidance path planning and tracking control method is developed for an autonomous vehicle. First, a path-planning algorithm based on artificial potential field is designed for the autonomous vehicle to bypass obstacles, and the generated discrete path model is transformed into a continuous one for the path-tracking control design. Then, according to the lateral dynamics and path-tracking characteristics of the vehicle, a kinematic-and-dynamic model is established for the autonomous vehicle. Afterward, an extended state observer-based adaptive recursive terminal sliding mode control scheme is proposed such that the vehicle can track the planned path precisely. The stability of the control system is proved according to the Lyapunov stability theory. Finally, MATLAB/Simulink-Carsim co-simulations are implemented to demonstrate the performance of the presented method under the conditions of different vehicle velocities and road surfaces. The simulation results indicate that the designed path-planning algorithm can plan an obstacle-avoidance path effectively, and the proposed control scheme possesses higher control precision and stronger robustness than the benchmark controllers.

Online publication date: Tue, 25-Jul-2023

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