Lateral control for autonomous vehicle using a sliding mode controller based on exponential reaching law

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Authors

  • Nguyen Van Trung 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 Nhu Toan 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 Danh Huy 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
  • Hoang Duc Chinh (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.2022.65-72

Keywords:

Lateral control; Autonomous vehicle; SIMO systerm; Sliding mode controller; Reaching law; Automatic lane change; Lyapunov-based controllers.

Abstract

This article presents lateral dynamics control for autonomous car by using a sliding mode controller based on the exponential reaching law to avoid the chattering phenomenon of conventional sliding mode control. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The stability of the system will be proved by defining the Lyapunov function and based on the Lyapunov stability theorem. The performance of the proposed control technique is better than conventional sliding mode control, control input is smooth to guarantee actuator can respond realistically. The simulation results of steering angle and path tracking are illustrated and compared in Matlab/Simulink.

References

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[2]. C. M. Filho, D. F. Wolf, V. Grassi, and F. S. Osorio, “Longitudinal and lateral control for autonomous ground vehicles,” IEEE Intelligent Vehicles Symposium, Proceedings, pp. 588–593, (2014), doi: 10.1109/IVS.2014.6856431.

[3]. R. Rajamani, “Vehicle Dynamics and Control”. Boston, MA: Springer US, (2012). doi: 10.1007/978-1-4614-1433-9.

[4]. R. Marino, S. Scalzi, and M. Netto, “Nested PID steering control for lane keeping in autonomous vehicles,” Control Eng Pract, vol. 19, no. 12, pp. 1459–1467, Dec. (2011), doi: 10.1016/J.CONENGPRAC.2011.08.005.

[5]. Q. Liu et al., “Hierarchical Lateral Control Scheme for Autonomous Vehicle with Uneven Time Delays Induced by Vision Sensors,” Sensors 2018, Vol. 18, Page 2544, vol. 18, no. 8, p. 2544, Aug. (2018), doi: 10.3390/S18082544.

[6]. C. M. Kang, W. Kim, and C. C. Chung, “Observer-based backstepping control method using reduced lateral dynamics for autonomous lane-keeping system,” ISA Trans, vol. 83, pp. 214–226, Dec. (2018), doi: 10.1016/J.ISATRA.2018.09.016.

[7]. X. Wang, M. Fu, H. Ma, and Y. Yang, “Lateral control of autonomous vehicles based on fuzzy logic,” Control Eng Pract, vol. 34, pp. 1–17, Jan. (2015), doi: 10.1016/j.conengprac.2014.09.015.

[8]. G. Tagne, R. Talj, and A. Charara, “Higher-order sliding mode control for lateral dynamics of autonomous vehicles, with experimental validation,” IEEE Intelligent Vehicles Symposium, Proceedings, pp. 678–683, (2013), doi: 10.1109/IVS.2013.6629545.

[9]. A. Norouzi, M. Masoumi, A. Barari, and S. Farrokhpour Sani, “Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller,” Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, vol. 233, no. 1, pp. 141–151, Mar. (2019), doi: 10.1177/1464419318797051.

[10]. R. Khan, F. M. Malik, N. Mazhar, A. Raza, R. A. Azim, and H. Ullah, “Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function,” IEEE Access, vol. 9, pp. 50513–50522, (2021), doi: 10.1109/ACCESS.2021.3068949.

[11]. A. I. Al-Odienat and A. A. Al-Lawama, “The Advantages of PID Fuzzy Controllers Over The Conventional Types,” Am J Appl Sci, vol. 5, no. 6, pp. 653–658, (2008).

[12]. D. H. Vu, S. Huang, and T. D. Tran, “Hierarchical robust fuzzy sliding mode control for a class of simo under-actuated systems with mismatched uncertainties,” TELKOMNIKA (Telecommunication Computing Electronics and Control), vol. 17, no. 6, pp. 3027–3043, Dec. (2019), doi: 10.12928/TELKOMNIKA.V17I6.13176.

[13]. K. Xu, X. Wu, M. Ma, and Y. Zhang, “Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs,” Transactions of the Institute of Measurement and Control, vol. 42, no. 14, pp. 2822–2829, Oct. (2020), doi: 10.1177/0142331220933475.

[14]. J. Jiang and A. Astolfi, “Lateral Control of an Autonomous Vehicle,” IEEE Transactions on Intelligent Vehicles, vol. 3, no. 2, pp. 228–237, Jun. (2018), doi: 10.1109/TIV.2018.2804173.

[15]. J. Liu and Xinhua. Wang, “Advanced sliding mode control for mechanical systems : design, analysis and MATLAB simulation”. Springer, (2012).

[1]. C. Badue et al., “Self-Driving Cars: A Survey,” Expert Syst Appl, vol. 165, p. 113816, Jan. (2019), Accessed: Aug. 22, 2022. [Online]. Available: http://arxiv.org/abs/1901.04407 DOI: https://doi.org/10.1016/j.eswa.2020.113816

[2]. C. M. Filho, D. F. Wolf, V. Grassi, and F. S. Osorio, “Longitudinal and lateral control for autonomous ground vehicles,” IEEE Intelligent Vehicles Symposium, Proceedings, pp. 588–593, (2014), doi: 10.1109/IVS.2014.6856431. DOI: https://doi.org/10.1109/IVS.2014.6856431

[3]. R. Rajamani, “Vehicle Dynamics and Control”. Boston, MA: Springer US, (2012). doi: 10.1007/978-1-4614-1433-9. DOI: https://doi.org/10.1007/978-1-4614-1433-9

[4]. R. Marino, S. Scalzi, and M. Netto, “Nested PID steering control for lane keeping in autonomous vehicles,” Control Eng Pract, vol. 19, no. 12, pp. 1459–1467, Dec. (2011), doi: 10.1016/J.CONENGPRAC.2011.08.005. DOI: https://doi.org/10.1016/j.conengprac.2011.08.005

[5]. Q. Liu et al., “Hierarchical Lateral Control Scheme for Autonomous Vehicle with Uneven Time Delays Induced by Vision Sensors,” Sensors 2018, Vol. 18, Page 2544, vol. 18, no. 8, p. 2544, Aug. (2018), doi: 10.3390/S18082544. DOI: https://doi.org/10.3390/s18082544

[6]. C. M. Kang, W. Kim, and C. C. Chung, “Observer-based backstepping control method using reduced lateral dynamics for autonomous lane-keeping system,” ISA Trans, vol. 83, pp. 214–226, Dec. (2018), doi: 10.1016/J.ISATRA.2018.09.016. DOI: https://doi.org/10.1016/j.isatra.2018.09.016

[7]. X. Wang, M. Fu, H. Ma, and Y. Yang, “Lateral control of autonomous vehicles based on fuzzy logic,” Control Eng Pract, vol. 34, pp. 1–17, Jan. (2015), doi: 10.1016/j.conengprac.2014.09.015. DOI: https://doi.org/10.1016/j.conengprac.2014.09.015

[8]. G. Tagne, R. Talj, and A. Charara, “Higher-order sliding mode control for lateral dynamics of autonomous vehicles, with experimental validation,” IEEE Intelligent Vehicles Symposium, Proceedings, pp. 678–683, (2013), doi: 10.1109/IVS.2013.6629545. DOI: https://doi.org/10.1109/IVS.2013.6629545

[9]. A. Norouzi, M. Masoumi, A. Barari, and S. Farrokhpour Sani, “Lateral control of an autonomous vehicle using integrated backstepping and sliding mode controller,” Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, vol. 233, no. 1, pp. 141–151, Mar. (2019), doi: 10.1177/1464419318797051. DOI: https://doi.org/10.1177/1464419318797051

[10]. R. Khan, F. M. Malik, N. Mazhar, A. Raza, R. A. Azim, and H. Ullah, “Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function,” IEEE Access, vol. 9, pp. 50513–50522, (2021), doi: 10.1109/ACCESS.2021.3068949. DOI: https://doi.org/10.1109/ACCESS.2021.3068949

[11]. A. I. Al-Odienat and A. A. Al-Lawama, “The Advantages of PID Fuzzy Controllers Over The Conventional Types,” Am J Appl Sci, vol. 5, no. 6, pp. 653–658, (2008). DOI: https://doi.org/10.3844/ajassp.2008.653.658

[12]. D. H. Vu, S. Huang, and T. D. Tran, “Hierarchical robust fuzzy sliding mode control for a class of simo under-actuated systems with mismatched uncertainties,” TELKOMNIKA (Telecommunication Computing Electronics and Control), vol. 17, no. 6, pp. 3027–3043, Dec. (2019), doi: 10.12928/TELKOMNIKA.V17I6.13176. DOI: https://doi.org/10.12928/telkomnika.v17i6.13176

[13]. K. Xu, X. Wu, M. Ma, and Y. Zhang, “Energy-based output feedback control of the underactuated 2DTORA system with saturated inputs,” Transactions of the Institute of Measurement and Control, vol. 42, no. 14, pp. 2822–2829, Oct. (2020), doi: 10.1177/0142331220933475. DOI: https://doi.org/10.1177/0142331220933475

[14]. J. Jiang and A. Astolfi, “Lateral Control of an Autonomous Vehicle,” IEEE Transactions on Intelligent Vehicles, vol. 3, no. 2, pp. 228–237, Jun. (2018), doi: 10.1109/TIV.2018.2804173. DOI: https://doi.org/10.1109/TIV.2018.2804173

[15]. J. Liu and Xinhua. Wang, “Advanced sliding mode control for mechanical systems : design, analysis and MATLAB simulation”. Springer, (2012). DOI: https://doi.org/10.1007/978-3-642-20907-9_3

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Published

23-12-2022

How to Cite

Nguyễn Văn Trung, Trần Ngọc Châu, Nguyễn Như Toàn, Lê Đức Thịnh, Nguyễn Danh Huy, Nguyễn Tùng Lâm, and C. Hoang Duc. “Lateral Control for Autonomous Vehicle Using a Sliding Mode Controller Based on Exponential Reaching Law”. Journal of Military Science and Technology, no. FEE, Dec. 2022, pp. 65-72, doi:10.54939/1859-1043.j.mst.FEE.2022.65-72.

Issue

No. FEE (2022)

Section

Research Articles

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