Development of a Sliding-Mode-Control-Based Path-Tracking Algorithm with Model-Free Adaptive Feedback Action for Autonomous Vehicles

Oh, Kwangseok; Seo, Jaho

doi:10.3390/s23010405

Cited by 9 publications

(6 citation statements)

References 50 publications

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“…The sliding mode control theory has gained broad attention and research because of its significant robustness. At present, the sliding mode control theory has been widely used in various fields [33,[39][40][41][42][43].…”

Section: Hovering Orbit With Considering J 2 Perturbationmentioning

confidence: 99%

Application of the Relative Orbit in an On-Orbit Service Mission

Zhang²,

et al. 2023

Electronics

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To achieve an on-orbit service mission, the mission spacecraft must approach the target spacecraft first, which is based on the spacecraft’s relative motion. To enhance the safety and reliability of on-orbit service missions, the relative hovering orbit was proposed and needed to be studied further. A high-precision design method for hovering orbit is presented based on the relative dynamics model of spacecraft in this paper. Firstly, based on the stability analysis of the spacecraft relative dynamics model, a method to determine the initial value of periodic relative motion orbit is explored, and an example is given to verify the validity of the method. Then, through theoretical analysis, the formulae of control acceleration required during the hovering flying mission were put forward for both without considering perturbation and with considering J2 perturbation, and numerical simulations for hovering orbit were made to verify the feasibility of the approaches proposed. Simulation results show that the control acceleration curves are smooth, which indicates that the hovering flying mission is easier to achieve, and the control method based on sliding mode control theory is adopted for hovering control. The relative hovering method proposed can provide references in space on-orbit service missions for practical engineers.

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Section: Hovering Orbit With Considering J 2 Perturbationmentioning

confidence: 99%

Application of the Relative Orbit in an On-Orbit Service Mission

Zhang²,

et al. 2023

Electronics

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“…Fuzzy logic control has been successfully designed for pathtracking control [15]. Another approach is to use a slidingmode control [16]. Neural networks, reinforcement learning, and vector quantization have been studied for a path-tracking robot running on a path with tight curves at high speeds.…”

Section: Path-tracking Control For Autonomous Robotmentioning

confidence: 99%

Development of an Autonomous Mobile Robot Platform for Smart Farms

Ryoo

2023

IJFIS

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In this study, we present a novel mobile robot platform designed to navigate effortlessly in narrow and cramped spaces, reminiscent of the challenging conditions encountered in smart farms. The primary objective of this proposal is to address the inherent limitations of traditional mobile platforms when maneuvering in environments densely populated with crops and obstacles. To achieve this, path-tracking control was installed in the newly designed robot to evaluate its performance. We propose an adaptive fuzzy proportional derivative (PD) controller for the developed robot to perform path tracking. We compared the performances of both controllers with different parameters and the proposed fuzzy PD controller applied to the robot platform. The effectiveness of the developed robot was experimentally assessed. The experimental results indicate that the proposed robot platform has significant potential for application in greenhouses.

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“…An important aspect of the system when it enters into a sliding mode, known as the sliding motion, is that the order of its dynamics is reduced with respect to the original system. This approach is used in [14,15], where trajectory planning and tracking controllers for automotive vehicles are presented. In addition, a combination of sliding mode controller and neural networks are proposed in [16] for the path following of autonomous vehicles.…”

Section: Introductionmentioning

confidence: 99%

Path-Following Sliding Mode Controller for an Electric Vehicle Considering Actuator Dynamics

Torres-Romero,

Ruiz-Cruz,

González-Jiménez

2024

Machines

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This study introduced a novel path-following controller tailored to electric vehicles equipped with a steer-by-wire system, i.e., the steering angle of the vehicle was defined by an electrical actuator. The control objective was to force the proper steering angle of the vehicle, which permits following a desired path. The system presupposed that an external algorithm that utilized sensor data provided the lateral movement references while maintaining a steady longitudinal velocity for the vehicle. The proposed control scheme was based on a robust sliding mode steering controller to manage the vehicle’s lateral movement. Furthermore, a brushless DC (BLDC) motor was considered as the steering actuator, which was controlled by a field-oriented controller (FOC), which was based on four internal proportional–integral (PI) control loops for precise steering actuation. To assess the performance of the proposed control scheme, numerical simulations were obtained, which demonstrated its effectiveness in achieving the control objective.

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Development of a Sliding-Mode-Control-Based Path-Tracking Algorithm with Model-Free Adaptive Feedback Action for Autonomous Vehicles

Cited by 9 publications

References 50 publications

Application of the Relative Orbit in an On-Orbit Service Mission

Application of the Relative Orbit in an On-Orbit Service Mission

Development of an Autonomous Mobile Robot Platform for Smart Farms

Path-Following Sliding Mode Controller for an Electric Vehicle Considering Actuator Dynamics

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