Autonomous vehicle trajectory tracking lateral control based on the terminal sliding mode control with radial basis function neural network and fuzzy logic algorithm

This paper will study a trajectory tracking control algorithm for electric vehicles based on a terminal sliding mode controller. First, a 3 degrees of freedom nonlinear vehicle model and a controller-oriented 2 degrees of freedom vehicle model are established. The preview time is adaptively adjusted...

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Vydáno v:Mechanical sciences (Göttingen) Ročník 13; číslo 2; s. 713 - 724
Hlavní autoři: Wang, Binyu, Lei, Yulong, Fu, Yao, Geng, Xiaohu
Médium: Journal Article
Jazyk:angličtina
Vydáno: Gottingen Copernicus GmbH 08.08.2022
Copernicus Publications
Témata:
Algorithms
Analysis
Autonomous vehicles
Coefficient of friction
Computer simulation
Control algorithms
Control systems
Control systems design
Control theory
Controllers
Degrees of freedom
Design
Driverless cars
Electric vehicles
Friction
Fuzzy algorithms
Fuzzy control
Fuzzy logic
Fuzzy systems
Kinematics
Lateral control
Mathematical models
Neural networks
Parameters
Path tracking
Radial basis function
Simulation
Sliding mode control
Tires
Tracking control
Trajectory control
Velocity
ISSN:2191-916X, 2191-9151, 2191-916X
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Shrnutí:This paper will study a trajectory tracking control algorithm for electric vehicles based on a terminal sliding mode controller. First, a 3 degrees of freedom nonlinear vehicle model and a controller-oriented 2 degrees of freedom vehicle model are established. The preview time is adaptively adjusted based on the preview model. Then, the vehicle trajectory tracking controller, which uses the terminal sliding mode algorithm, is designed. The radial basis function (RBF) neural network algorithm is used to approximate the system variable parameters in the control model online. At the same time, fuzzy logic is used to control the gain parameters of the controller to reduce the chattering of the control system. Finally, the designed controller is verified by simulation. The maximum deviation of path tracking under different speeds is 0.6 m, and the target path can also be well followed under different road friction coefficients. The simulation results show that the controller designed in this paper can effectively carry out the vehicle trajectory tracking and lateral control and reduce the chattering to a certain extent.
Bibliografie:ObjectType-Article-1
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ISSN:2191-916X
2191-9151
2191-916X
DOI:10.5194/ms-13-713-2022