A study of unmanned vehicle trajectory tracking based on nonsingular terminal sliding mode

Yi He; Zhen Huang; Zhengke Chen; Haoyu Li; Zixian Gao

doi:10.1117/12.3054505

20 December 2024 A study of unmanned vehicle trajectory tracking based on nonsingular terminal sliding mode

Yi He, Zhen Huang, Zhengke Chen, Haoyu Li, Zixian Gao

Author Affiliations +

Proceedings Volume 13421, Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024); 1342156 (2024) https://doi.org/10.1117/12.3054505
Event: Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024), 2024, Dalian, China

Abstract

Addressing the challenge of unmanned vehicle trajectory tracking in complex, dynamic environments inherently requires robust path-tracking controllers. To accomplish this, we propose a non-singular terminal sliding mode control (NTSM) strategy specifically designed for vehicle trajectory tracking. This controller employs a fast convergence law to accurately follow reference trajectories through autonomous steering. The stability of this control system is rigorously proven utilizing the Lyapunov stability criterion. To validate its performance, simulations are conducted under various operating conditions using the Matlab-Carsim co-simulation platform. The results consistently demonstrate that, in comparison to model predictive control (MPC) and traditional sliding mode control (SMC), the NTSM strategy significantly enhances control accuracy and robustness.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yi He, Zhen Huang, Zhengke Chen, Haoyu Li, and Zixian Gao "A study of unmanned vehicle trajectory tracking based on nonsingular terminal sliding mode", Proc. SPIE 13421, Eighth International Conference on Traffic Engineering and Transportation System (ICTETS 2024), 1342156 (20 December 2024); https://doi.org/10.1117/12.3054505

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