Finite-time tracking control method for unmanned vehicle with external disturbance

Abstract

In this paper, a finite-time tracking control scheme is proposed for unmanned vehicles. Considering the nonlinear effect of tires on vehicle models, the controller is designed to maintain the stability of unmanned vehicle trajectory tracking system. For the nominal system, a finite time control method is designed to make the unmanned vehicle track to the ideal trajectory; for the system with external disturbance, a combination of sliding mode control and finite-time tracking control is used to ensure that the tracking error converges to zero. The simulation results show that the vehicle stability control strategy based on this method has better tracking performance.