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Development of a Sliding-Mode-Control-Based Path-Tracking Algorithm with Model-Free Adaptive Feedback Action for

Kwangseok Oh1, Jaho Seo2

  • 1School of ICT, Robotics & Mechanical Engineering, Hankyong National University, Anseong-si 17579, Republic of Korea.

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Summary

This study introduces a sliding mode control (SMC) algorithm for autonomous vehicles, enhancing path tracking with adaptive feedback. The integrated controller improves robustness against real-time environmental and vehicle variations.

Keywords:
Lyapunov stabilityautonomous vehicleforgetting factormodel-free adaptive feedbackpath trackingrecursive least squaressliding mode control

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Area of Science:

  • Robotics
  • Control Systems Engineering
  • Artificial Intelligence

Background:

  • Autonomous vehicles require robust path-tracking for safety due to dynamic driving conditions.
  • Traditional control methods struggle with real-time uncertainties in vehicle dynamics and environment.
  • Sliding mode control (SMC) offers robustness but faces challenges with unknown uncertainties.

Purpose of the Study:

  • To develop an adaptive and robust path-tracking algorithm for autonomous vehicles.
  • To address the limitations of existing controllers in handling unknown uncertainties.
  • To integrate adaptive feedback control (AFC) with SMC for enhanced stability and performance.

Main Methods:

  • Sliding mode control (SMC) was employed to manage switching gain based on the sliding surface.
  • An adaptive feedback control (AFC) component was integrated to adjust for bounded uncertainties.
  • The controller design focused on achieving zero control error despite unknown system variations.

Main Results:

  • The integrated AFC-SMC controller demonstrated superior control performance in autonomous driving scenarios.
  • The proposed method effectively adjusted for bounded uncertainties, ensuring closed-loop stability.
  • Illustrative examples confirmed the controller's robustness and adaptive capabilities.

Conclusions:

  • The integrated adaptive feedback control and sliding mode control method provides a robust solution for autonomous vehicle path tracking.
  • This approach enhances stability and performance by effectively managing unknown uncertainties.
  • The developed controller is expected to see wide adoption in autonomous driving systems.