Academic Journal
Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments
| العنوان: | Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments |
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| المؤلفون: | Jose Matute, Sergio Diaz, Ali Karimoddini |
| المصدر: | IEEE Open Journal of Vehicular Technology, Vol 5, Pp 1314-1325 (2024) |
| بيانات النشر: | IEEE, 2024. |
| سنة النشر: | 2024 |
| المجموعة: | LCC:Transportation engineering LCC:Transportation and communications |
| مصطلحات موضوعية: | Automated vehicles, path tracking, robustness, rural environments, sliding mode control, vehicle control, Transportation engineering, TA1001-1280, Transportation and communications, HE1-9990 |
| الوصف: | Achieving robust path tracking is essential for efficiently operating autonomous driving systems, particularly in unpredictable environments. This paper introduces a novel path-tracking control methodology utilizing a variable second-order Sliding Mode Control (SMC) approach. The proposed control strategy addresses the challenges posed by uncertainties and disturbances by reconfiguring and expanding the state-space matrix of a kinematic bicycle model guaranteeing Lyapunov stability and convergence of the system. A state prediction is integrated into the developed SMC to mitigate response time delays. Furthermore, the controller integrates adaptive mechanisms to adjust time-varying parameters within the control formulation based on longitudinal velocity, thereby enhancing path-tracking performance and reducing chattering phenomena. The effectiveness of the proposed approach is comprehensively evaluated through simulations and experiments encompassing challenging driving scenarios characterized by high-curvature paths, varying altitudes, and sensor disturbances, typical in rural driving environments. Results demonstrate that disturbances have varying impacts depending on the type of sensor affected. Real-world tests validate these findings, offering practical insights for automated vehicle path-tracking implementation. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2644-1330 |
| Relation: | https://ieeexplore.ieee.org/document/10669799/; https://doaj.org/toc/2644-1330 |
| DOI: | 10.1109/OJVT.2024.3456035 |
| URL الوصول: | https://doaj.org/article/a8b961a9137b493d8f7e95bef521caab |
| رقم الانضمام: | edsdoj.8b961a9137b493d8f7e95bef521caab |
| قاعدة البيانات: | Directory of Open Access Journals |
| تدمد: | 26441330 |
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| DOI: | 10.1109/OJVT.2024.3456035 |