Title: A robust longitudinal sliding-mode controller design for autonomous ground vehicle based on fuzzy logic

Authors: Ping Hu; Jinghua Guo; Linhui Li; Rongben Wang

Addresses: State Key Laboratory of Structural Analysis for Industrial Equipment, School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China ' State Key Laboratory of Structural Analysis for Industrial Equipment, School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China ' State Key Laboratory of Structural Analysis for Industrial Equipment, School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China ' College of Traffic, Jilin University, Changchun 130012, China

Abstract: This paper describes the development of a robust longitudinal controller for autonomous ground vehicle with inherent unknown nonlinearities and parametric uncertainties. The longitudinal controller is designed using Sliding-Mode Control (SMC) strategy based on fuzzy logic, which works through switching between the throttle actuator and brake actuator according to a predetermined criterion. The proposed longitudinal controller not only eliminates the chattering phenomenon in the Sliding-Mode Control (SMC) but also copes with the system uncertainties and external disturbances. Additionally, the convergence of closed-loop longitudinal control system is proved by the Lyapunov stability theory. Finally, simulation and experimental results indicate the strong robustness and commendable tracking performance of proposed controller.

Keywords: autonomous ground vehicles; autonomous vehicles; longitudinal control; fuzzy logic; SMC; sliding mode control; robust control; controller design; fuzzy control; throttle actuator; brake actuator; chatter elimination; system uncertainties; external disturbances; Lyapunov stability theory; simulation; tracking performance.

DOI: 10.1504/IJVAS.2013.056619

International Journal of Vehicle Autonomous Systems, 2013 Vol.11 No.4, pp.368 - 383

Received: 19 Feb 2011
Accepted: 29 Aug 2011

Published online: 15 Aug 2013 *

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