The lateral dynamics control of autonomous vehicles using the sliding mode controller combined with an extended state observer

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Authors

  • Nguyen Tien Dung School of Electrical and Electronics Engineering, Hanoi University of Science and Technology
  • Duong Quoc Tuan School of Electrical and Electronics Engineering, Hanoi University of Science and Technology
  • Tran Ngoc Chau School of Electrical and Electronics Engineering, Hanoi University of Science and Technology
  • Nguyen Van Trung School of Electrical and Electronics Engineering, Hanoi University of Science and Technology
  • Le Duc Thinh School of Electrical and Electronics Engineering, Hanoi University of Science and Technology
  • Nguyen Tung Lam School of Electrical and Electronics Engineering, Hanoi University of Science and Technology
  • Nguyen Danh Huy (Corresponding Author) School of Electrical and Electronics Engineering, Hanoi University of Science and Technology

DOI:

https://doi.org/10.54939/1859-1043.j.mst.FEE.2023.13-20

Keywords:

Autonomous vehicles; Lateral dynamics; State observer; Constant Rate Reaching Law.

Abstract

The article presents the ability to control the lateral dynamics of autonomous vehicles under the influence of model parameter variations and environmental effects using Sliding Mode Control (SMC) combined with Extended State Observer (ESO). The dynamic model of the vehicle is constructed considering uncertain disturbances and external environmental influences. Furthermore, by employing model order reduction, both the fast and slow dynamics of the object are delineated. Based on this, the control strategy consists of two parts: firstly, controlling the lateral position of the object, and secondly, steering angle control based on the deviation of the rotational state angle. This study introduces an ESO observation unit coupled with SMC, employing the Constant Rate Reaching Law to observe noise values, ensuring sustainability, and reducing Chattering phenomena. Lyapunov and Hurwitz stability criteria are applied to demonstrate the local and global stability of the control system when integrated with the observer. Finally, the Matlab/Simulink software is utilized for simulation and verification, demonstrating the sustainability, effectiveness, and feasibility of the proposed system.

References

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Published

10-12-2023

How to Cite

Nguyễn Tiến Dũng, Dương Quốc Tuấn, Trần Ngọc Châu, Nguyễn Văn Trung, Lê Đức Thịnh, Nguyễn Tùng Lâm, and Nguyễn Danh Huy. “The Lateral Dynamics Control of Autonomous Vehicles Using the Sliding Mode Controller Combined With an Extended State Observer”. Journal of Military Science and Technology, no. FEE, Dec. 2023, pp. 13-20, doi:10.54939/1859-1043.j.mst.FEE.2023.13-20.

Issue

No. FEE (2023)

Section

Research Articles

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