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

Authors :
B. Wang
Y. Lei
Y. Fu
X. Geng
Source :
Mechanical Sciences, Vol 13, Pp 713-724 (2022)
Publication Year :
2022
Publisher :
Copernicus Publications, 2022.

Abstract

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.

Details

Language :
English
ISSN :
21919151 and 2191916X
Volume :
13
Database :
Directory of Open Access Journals
Journal :
Mechanical Sciences
Publication Type :
Academic Journal
Accession number :
edsdoj.2b00ef4a705e45b29607fc6f264536d9
Document Type :
article
Full Text :
https://doi.org/10.5194/ms-13-713-2022