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Related Experiment Video

Updated: Jan 16, 2026

Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

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The Integrated Disturbance Estimation and Non-Singular Terminal Sliding Mode Longitudinal Motion Controller for

Boyuan Li¹, Wenfei Li², Wei Hua³

¹Hong Kong Center for Construction Robotics (InnoHK Center Supported by Hong Kong ITC), Hong Kong.

Sensors (Basel, Switzerland)

|September 27, 2025

Summary

This study introduces a novel controller for low-speed autonomous vehicles, addressing road disturbances and actuator delays. The new non-singular terminal sliding mode controller (NS-TSMC) improves motion control using pedal position, enhancing performance and comfort.

Keywords:

actuator delay disturbance estimation model uncertainty non-singular terminal sliding mode control

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Area of Science:

Automotive Engineering
Control Systems
Robotics

Background:

Low-speed autonomous vehicles face challenges from road disturbances, model uncertainty, and actuator delays.
Existing motion controllers often rely on unavailable motor/brake torque control.

Purpose of the Study:

To develop an integrated disturbance estimation and non-singular terminal sliding mode controller (NS-TSMC) for low-speed autonomous vehicles.
To achieve longitudinal motion control via traction/brake pedal position, overcoming common disturbances.

Main Methods:

Proposed a longitudinal dynamic vehicle model including brake-by-wire and motor actuator models, accounting for disturbances and delays.
Developed a disturbance and uncertain parameter estimator integrated with NS-TSMC.
Verified the vehicle model using experimental data from a low-speed autonomous sightseeing vehicle.

Main Results:

The integrated NS-TSMC demonstrated improved longitudinal motion tracking performance.
Enhanced motion comfort was observed compared to a traditional proportional-integral-derivative (PID) controller.
Experimental and simulation results validated the controller's effectiveness.

Conclusions:

The proposed NS-TSMC effectively manages disturbances in low-speed autonomous vehicles.
Traction/brake pedal position control offers a viable alternative for motion control.
The integrated approach significantly enhances vehicle performance and passenger comfort.