Title: A new fractional-order sliding mode controller for the cruise control system of automatic vehicles

Authors: Sajjad Sheykhi; Hossein Gholizade-Narm

Addresses: Faculty of Electrical Engineering, Shahrood University of Technology, Shahrood, Semnan Province, Iran; Department of Electrical Engineering, Higher Educational Complex, Saravan, Iran ' Faculty of Electrical Engineering, Shahrood University of Technology, Shahrood, Semnan Province, Iran

Abstract: In this paper, a Fractional-Order Sliding Mode Controller (FOSMC) is proposed for the speed and position control of automatic vehicles in order to solve the cruise control problem in tracking a road vehicle. Cruise Control System (CCS) is a smart system used in modern autonomous vehicles in which the follower vehicle must follow a reference trajectory transmitted by a leading vehicle. Road safety and comfortable driving are among the results of using such controllers. However, traditional Integer-Order Sliding Mode Controllers (IOSMC) designed by other studies create chattering in the system which reduces performance by creating unwanted fluctuations. The novelty of this paper is to design a new FOSMC in order to achieve fast tracking in a cruise control system in the presence of model uncertainties and external disturbances. The proposed controller is then validated by simulating a CCS via MATLAB program. The simulation results and comparisons with IOSMC demonstrate the effectiveness of the proposed methodologies.

Keywords: sliding mode control; fractional-order control; cruise control system; automatic vehicles.

DOI: 10.1504/IJVAS.2022.133007

International Journal of Vehicle Autonomous Systems, 2022 Vol.16 No.2/3/4, pp.127 - 142

Received: 26 Jun 2021
Received in revised form: 16 Jan 2022
Accepted: 18 Mar 2022
Published online: 24 Aug 2023 *

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