Advanced headway control via adaptive seeking sliding mode for autonomous off-road vehicles
by Hai Yu, Umit Ozguner
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 5, No. 1/2, 2007

Abstract: The automated vehicle controller is one of the key technologies enabling the autonomous vehicle system. In off-road operation, the automated vehicle controller faces more challenges from disturbances and non-linearities. To achieve control robustness and adaptability to the off-road operation condition, an Adaptive Seeking Sliding Mode (ASSM) control algorithm is proposed in this paper. A hybrid headway control scheme is developed by taking advantage of the ASSM control methodology. The overall system designed achieves better performances in smooth operation, disturbance rejection and fuel efficiency. Proofs of the stability and performance are presented in this paper with illustrative simulation results.

Online publication date: Mon, 20-Aug-2007

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