Sliding mode path control for an autonomous vehicle

Abstract

A new path control algorithm for path tracking of autonomous vehicles (AV) is proposed, using both theoretical arguments and simulation experiments. The AV considered is a tricycle configuration with front driving and steering wheel, and two passive load-bearing rear wheels. A variable structure path control (VSPC) is used to maintain the AV's state trajectory on the desired path. The reference trajectory represents the sliding or switching surface. The front steering angle and the drive velocity are controlled using modified model reference adaptive control. The dynamic model of the AV and the unexpected disturbances are assumed to be completely unknown. Simulation results are presented to illustrate the usefulness of this algorithm.