Novel SMC control design for path following of autonomous vehicles with uncertainties and mismatched disturbances

Abstract

The article propose a novel robust, accurate, and fast control strategy with uncertainties/mismatched disturbances for path following control of autonomous vehicles using an innovative sliding mode control (SMC).The molded SMC is based on gain scheduling with fuzzy system, the algorithm of a radial basis function neural networks (RBFNN) and disturbance observer (DOB). The fuzzy system provide an automatic adjustment of the gain of SMC in order to compensate variations of system parameters; the use of DOB is to estimate the mismatched disturbances, and the RBFNN is for assessing the uncertainties. In addition, the stability of the closed-loop system is proved by the Lyapunov stability theorem. The proposed controller is applied to the path following of autonomous vehicle in extreme driving condition at high speed and under different road adhesion conditions. To show the effectiveness of our controller, simulation results have been compared with other robust strategies.