Path Following of Autonomous Vehicles Based on Adaptive Nonsingular Terminal Sliding Mode Control

Abstract

The path following performance directly influences the driving safety of autonomous vehicles (AVs). A control scheme with high robustness performance is an effective way to achieve accurate path following of the vehicle in the face of parametric uncertainty in the operation process. This paper proposes a novel path following control scheme for AVs, consisting of the reference yaw rate generator, and the adaptive nonsingular terminal sliding mode controller (ANTSMC). The integration of the reference yaw rate generator into the ANTSMC deals with the systems complex nonlinearity and uncertainty. The effectiveness and advantage of the proposed control strategy are verified through Simulink simulation.