Abstract
This article presents the robust control framework for the longitudinal motion of the self-driving car in an uncertain environment. As a theoretical contribution, a fixed settling time sliding mode controller (FSTSMC) is proposed using barrier Lyapunov functions for a class of second-order nonlinear systems which avoids the singularity problem of fixed traditional fixed time controllers. The proposed controller is, then employed to self-driving car application after its longitudinal dynamics’ transformation in standard normal form. The controller guarantees to attain the desired vehicle speed in fixed settling time. The MATLAB simulations are performed to illustrate the effectiveness of FSTSMC with longitudinal vehicle dynamics.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
