Higher-order sliding mode control for lateral dynamics of autonomous vehicles, with experimental validation

Abstract

This paper presents design and experimental validation of a vehicle lateral controller for autonomous vehicle based on a higher-order sliding mode control. We used the super-twisting algorithm to minimize the lateral displacement of the autonomous vehicle with respect to a given reference trajectory. The control input is the steering angle and the output is the lateral displacement error. The particularity of such a strategy is to take advantage of the robustness of the sliding mode controller against nonlinearities and parametric uncertainties in the model, while reducing chattering, the main drawback of first order sliding mode. To validate the control strategy, the closed-loop system simulated on Matlab-Simulink has been compared to the experimental data acquired on our vehicle DYNA, a Peugeot 308, according to several driving scenarios. The validation shows robustness and good performance of the proposed control approach.

Comparison of trajectory tracking controllers for autonomous vehicles

“…Control methods include sliding mode control [1], [2], [3], flatness-based control [4], [5], optimal linear-quadratic control [6], backstepping-based strategies [7], [8], [9], optimal preview control [10] and optimization-based methods like model predictive control (MPC) [11], [12].…”

Nonlinear control for the vehicle by numerical inversion of its behavioral model

“…Many works and control applications about the vehicle can be found in the literature. For example, in [1], the author used the sliding mode control with high order for lateral control. The authors in [2] considered the system like a flat system and build the control law.…”

“…In this paper, we focus on the design of a discrete-time, state-space, nonlinear controller to design a combined control 1 This work was carried out within the framework of the Equipex ROBO-TEX (Reference ANR-10-EQPX-44-01), which was funded by the French Government, through the program "Investments for the future" managed by the National Agency for Research.…”

SMC-based mobile robot stability control considering both matched and mismatched disturbances regulation and chatter alleviation

“…However, as [7] pointed out, the presence ofundesired chatter phenomenon is their main drawback. This phenomenon often leads to undesirable results, e.g., high wear of moving mechanical parts, low control accuracy [8]- [11].…”

“…For that reasons, it is necessary to control and maintain the amplitude of oscillations at a low level. Thus, Tagne et al [7] presented a higher-order SMC method to alleviate the chatter. The supertwisting algorithm is utilized to minimize the lateral displacement with respect to a given reference.…”