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Communication Dans Un Congrès Année : 2023

Nonsingular Terminal Sliding-mode Lateral Control of an Autonomous Vehicle with Global Fixed-time Stability Guarantees

Résumé

The present paper develops an output feedback fixed-time sliding mode control (FxTSMC) approach for lateral trajectory tracking of an autonomous vehicle subject to disturbances. Firstly, a nonsingular terminal sliding manifold is constructed to force the orientation error and lateral deviation to converge to desired values in finite time. Secondly, using variable exponent coefficients, a switching control law is proposed to provide fixed-time stability against external disturbances. By adjusting the control design parameters, the upper bound of the settling time for the closed-loop lateral system can be attained arbitrarily minimal without depending on the systems initial conditions. The effectiveness of FxTSMC is demonstrated by comparing the performance of closed-loop systems of the supplied controller and other existing controllers.
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hal-04068218 , version 1 (13-04-2023)

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Moussa Labbadi, Olivier Sename. Nonsingular Terminal Sliding-mode Lateral Control of an Autonomous Vehicle with Global Fixed-time Stability Guarantees. ECC 2023 - 21st European Control Conference, Jun 2023, Bucarest, Romania. ⟨10.23919/ECC57647.2023.10178162⟩. ⟨hal-04068218⟩
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