Global prescribed performance control for lane-keeping of automated vehicles considering input saturation

Abstract

This paper addresses the lane-keeping control problem for autonomous ground vehicles subject to input saturation and uncertain system parameters. An enhanced adaptive terminal sliding mode based prescribed performance control scheme is proposed, which enables the lateral position error of the vehicle to be kept within the prescribed performance boundaries all the time. This is achieved by firstly introducing an improved performance function into the controller design such that the stringent initial condition requirements can be relaxed, which further allows the global prescribed performance control result, and then, developing a multivariable adaptive terminal sliding mode based controller such that both input saturation and parameter uncertainties are handled effectively, which further ensures the robust lane-keeping control. Finally, the proposed control strategy is validated through numerical simulations, demonstrating its effectiveness.