A robust longitudinal sliding-mode controller design for autonomous ground vehicle based on fuzzy logic

Abstract

This paper describes the development of a robust longitudinal controller for autonomous ground vehicle with inherent unknown nonlinearities and parametric uncertainties. The longitudinal controller is designed using Sliding-Mode Control (SMC) strategy based on fuzzy logic, which works through switching between the throttle actuator and brake actuator according to a predetermined criterion. The proposed longitudinal controller not only eliminates the chattering phenomenon in the Sliding-Mode Control (SMC) but also copes with the system uncertainties and external disturbances. Additionally, the convergence of closed-loop longitudinal control system is proved by the Lyapunov stability theory. Finally, simulation and experimental results indicate the strong robustness and commendable tracking performance of proposed controller.