{"title":"自动驾驶汽车路径跟踪的无模型滑模控制","authors":"Yunfei Yin , Zhanguo Xu , Yuanlong Wei , Wangyang Jiang , Deyin Yao , Zejiao Dong","doi":"10.1016/j.jfranklin.2025.107806","DOIUrl":null,"url":null,"abstract":"<div><div>This article addresses the challenges of parameter uncertainty and disturbance in the path-following task of autonomous vehicles. Instead of directly converging the path-following errors, a novel desired yaw angle function is introduced to enhance path tracking in underactuated vehicles, thereby simplifying the controller design. It is proven that the path tracking errors diminish to zero as the yaw angle aligns with the desired yaw angle. Based on the system model and control objectives, a composite model-free sliding mode control scheme is proposed. This strategy employs a non-singular terminal sliding mode control law to stabilize the control error. Furthermore, a high-order fast terminal sliding mode observer is incorporated to address system parameter uncertainty and external disturbance, with the estimated values utilized in the proposed controller. With this combination, this approach ensures tracking precision without requiring vehicle parameter knowledge and offers robust application, ultimately realizing model-free control. Meanwhile, the stability of the closed system is proven using Lyapunov theory. Finally, various operating conditions are designed to verify the robustness, and different control methods are compared to highlight the superiority of the proposed control strategy.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":"362 12","pages":"Article 107806"},"PeriodicalIF":4.2000,"publicationDate":"2025-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Model-free sliding mode control for path following in autonomous vehicle\",\"authors\":\"Yunfei Yin , Zhanguo Xu , Yuanlong Wei , Wangyang Jiang , Deyin Yao , Zejiao Dong\",\"doi\":\"10.1016/j.jfranklin.2025.107806\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>This article addresses the challenges of parameter uncertainty and disturbance in the path-following task of autonomous vehicles. Instead of directly converging the path-following errors, a novel desired yaw angle function is introduced to enhance path tracking in underactuated vehicles, thereby simplifying the controller design. It is proven that the path tracking errors diminish to zero as the yaw angle aligns with the desired yaw angle. Based on the system model and control objectives, a composite model-free sliding mode control scheme is proposed. This strategy employs a non-singular terminal sliding mode control law to stabilize the control error. Furthermore, a high-order fast terminal sliding mode observer is incorporated to address system parameter uncertainty and external disturbance, with the estimated values utilized in the proposed controller. With this combination, this approach ensures tracking precision without requiring vehicle parameter knowledge and offers robust application, ultimately realizing model-free control. Meanwhile, the stability of the closed system is proven using Lyapunov theory. Finally, various operating conditions are designed to verify the robustness, and different control methods are compared to highlight the superiority of the proposed control strategy.</div></div>\",\"PeriodicalId\":17283,\"journal\":{\"name\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"volume\":\"362 12\",\"pages\":\"Article 107806\"},\"PeriodicalIF\":4.2000,\"publicationDate\":\"2025-06-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0016003225002996\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Franklin Institute-engineering and Applied Mathematics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0016003225002996","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Model-free sliding mode control for path following in autonomous vehicle
This article addresses the challenges of parameter uncertainty and disturbance in the path-following task of autonomous vehicles. Instead of directly converging the path-following errors, a novel desired yaw angle function is introduced to enhance path tracking in underactuated vehicles, thereby simplifying the controller design. It is proven that the path tracking errors diminish to zero as the yaw angle aligns with the desired yaw angle. Based on the system model and control objectives, a composite model-free sliding mode control scheme is proposed. This strategy employs a non-singular terminal sliding mode control law to stabilize the control error. Furthermore, a high-order fast terminal sliding mode observer is incorporated to address system parameter uncertainty and external disturbance, with the estimated values utilized in the proposed controller. With this combination, this approach ensures tracking precision without requiring vehicle parameter knowledge and offers robust application, ultimately realizing model-free control. Meanwhile, the stability of the closed system is proven using Lyapunov theory. Finally, various operating conditions are designed to verify the robustness, and different control methods are compared to highlight the superiority of the proposed control strategy.
期刊介绍:
The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.