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Backstepping Adaptive Sliding Mode Control for Automatic Steering of Intelligent Vehicles

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Abstract:

A novel approach which integrates the backstepping technique and adaptive sliding mode control is proposed for the automatic steering control of autonomously driving intelligent vehicles. By taking account into the vehicle lateral dynamics and vehicle-road kinematics relationship, the error-based vehicle-road dynamic model for path tracking is presented. Then, a feedforward and feedback control scheme is proposed. The feedforward term is derived from steady response of the vehicle lateral dynamics, and the feedback term is designed based on sliding mode and backstepping techniques. In addition, the adaptive law for estimating uncertainties is designed to improve path following accuracy. The effect of control parameters to the automatic steering system is described as well. Simulation results are presented to illustrate the effectiveness of the proposed control algorithm.

Keywords: AUTOMATIC STEERING CONTROL SYSTEM; BACKSTEPPING DESIGN; INTELLIGENT VEHICLES; SLIDING MODE CONTROL

Document Type: Research Article

DOI: http://dx.doi.org/10.1166/asl.2012.2202

Publication date: March 1, 2012

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  • ADVANCED SCIENCE LETTERS is an international peer-reviewed journal with a very wide-ranging coverage, consolidates research activities in all areas of (1) Physical Sciences, (2) Biological Sciences, (3) Mathematical Sciences, (4) Engineering, (5) Computer and Information Sciences, and (6) Geosciences to publish original short communications, full research papers and timely brief (mini) reviews with authors photo and biography encompassing the basic and applied research and current developments in educational aspects of these scientific areas.
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