Ultra-Local Sliding Mode Control with Control Barrier Functions: A Framework for Adaptive Cruise Control

IF 3.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2026-01-01 Epub Date: 2025-11-20 DOI:10.1016/j.mechatronics.2025.103430

Fernando Zolubas Preto , Bruno Augusto Angélico , Evandro Leonardo Silva Teixeira , João Francisco Justo

{"title":"Ultra-Local Sliding Mode Control with Control Barrier Functions: A Framework for Adaptive Cruise Control","authors":"Fernando Zolubas Preto , Bruno Augusto Angélico , Evandro Leonardo Silva Teixeira , João Francisco Justo","doi":"10.1016/j.mechatronics.2025.103430","DOIUrl":null,"url":null,"abstract":"<div><div>This work proposes a unification of safety-proven control laws with modeling-free approaches, with a primary focus on handling complex applications. The proposed control law is an Ultra-Local Sliding-Mode Control (ULSMC) with Control Barrier Function (CBF) that is a combination capable of ensuring safety and robustness using minimal phenomenological modeling. This approach is used to design an Adaptive Cruise Control (ACC) system that has successfully accomplished some of the most challenging Euro NCAP Tests in a Hardware-In-the-Loop platform, using a realistic vehicular simulator. Moreover, a cubic per part condition is developed on the time derivative of the CBF, allowing the CBF safety filter to dynamically arbitrate between prioritizing safety, performance, or safety-recoverability according to the safety level measured by the CBF function. In particular, safety-recoverability is verified through simulations of realistic hazardous scenarios caused by external vehicles on the road. Furthermore, a modified headway-time-based CBF is developed to address ACC operation under complete stop scenarios. The robustness of the ULSMC control is shown to be essential to ensure ACC performance requirements when adopting an almost modeling-free approach.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"113 ","pages":"Article 103430"},"PeriodicalIF":3.2000,"publicationDate":"2026-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechatronics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0957415825001394","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2025/11/20 0:00:00","PubModel":"Epub","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}

引用次数: 0

Abstract

This work proposes a unification of safety-proven control laws with modeling-free approaches, with a primary focus on handling complex applications. The proposed control law is an Ultra-Local Sliding-Mode Control (ULSMC) with Control Barrier Function (CBF) that is a combination capable of ensuring safety and robustness using minimal phenomenological modeling. This approach is used to design an Adaptive Cruise Control (ACC) system that has successfully accomplished some of the most challenging Euro NCAP Tests in a Hardware-In-the-Loop platform, using a realistic vehicular simulator. Moreover, a cubic per part condition is developed on the time derivative of the CBF, allowing the CBF safety filter to dynamically arbitrate between prioritizing safety, performance, or safety-recoverability according to the safety level measured by the CBF function. In particular, safety-recoverability is verified through simulations of realistic hazardous scenarios caused by external vehicles on the road. Furthermore, a modified headway-time-based CBF is developed to address ACC operation under complete stop scenarios. The robustness of the ULSMC control is shown to be essential to ensure ACC performance requirements when adopting an almost modeling-free approach.

查看原文本刊更多论文

具有控制障碍函数的超局部滑模控制：一种自适应巡航控制框架

这项工作提出了安全证明的控制律与无建模方法的统一，主要关注处理复杂的应用程序。所提出的控制律是一种具有控制障碍函数（CBF）的超局部滑模控制（ULSMC），它是一种能够使用最小现象学建模确保安全性和鲁棒性的组合。该方法被用于自适应巡航控制（ACC）系统的设计，该系统已经成功地在硬件在环平台上完成了一些最具挑战性的欧洲NCAP测试，使用了逼真的车辆模拟器。此外，在CBF的时间导数上建立了每部分立方的条件，允许CBF安全过滤器根据CBF函数测量的安全级别动态地在优先安全、性能或安全可恢复性之间进行仲裁。特别是，通过模拟外部车辆在道路上造成的现实危险情景，验证了安全可恢复性。此外，开发了一种改进的基于进度时间的CBF，以解决完全停止情况下的ACC操作问题。当采用几乎无需建模的方法时，ULSMC控制的鲁棒性对于确保ACC性能要求至关重要。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.