Abstract
This research focuses on the modeling and lateral control of an autonomous vehicle, employing a novel robust fixed-time sliding mode control method. Prior to any further analysis, a detailed model of the lateral dynamics of an autonomous vehicle is developed in order to accurately represent its nonlinear behavior and dynamic characteristics. Furthermore, a novel fixed-time sliding mode controller is employed to control the vehicle’s movement, effectively addressing nonlinearities while reducing the impact of uncertainties and external disturbances. This approach is known for its ability to provide a specific time of convergence, which results in achieving high accuracy and fast response. Subsequently, the stability of the overall system must be maintained by applying Lyapunov functions. In order to validate the effectiveness of the proposed control method, it is tested through simulations and compared with classical fixed-time sliding mode control and fixed-time fast terminal sliding mode control techniques. The results confirm the superior robustness and performance of the proposed control method, thereby highlighting its potential for autonomous vehicle applications.
Published Version
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