Robust path tracking control using model predictive control and sliding mode control — Application to the JSAE-SICE benchmark problem

Abstract

In this paper, we cope with the JSAE-SICE benchmark study which demands recovering disadvantage of micro electric vehicles. To enhance the stability of micro cars, we apply the robust path tracking control combining Model Predictive Control and Sliding Mode Control. In this controller, the friction circles are considered using the approximated tire force usage rate to balance the path following performance and the robustness. The enhancement of the vehicle stability using the robust path tracking controller through the numerical simulations is shown. The controller are applied to the all scenarios of the JSAE-SICE benchmark study.