Abstract
An adaptive sliding mode-model predictive control for the path following of intelligent unmanned vehicle is given in this paper. On account of excellent performances of the sliding mode structure, this algorithm can not only effectively estimate the uncertainty of the vehicle system to further improve the following accuracy, but minish the amount of calculation in comparision with model predictive control. Then, the following accuracy between the real system and the theoretical model can be compensated by the fractional order coefficient of controller. Therefore, an adaptive fractional order sliding mode-fractional order model predictive control is designed to follow the path of the intelligent unmanned vehicle. Meanwhile, the robust stability and control accuracy of the associated control algorithm are proved. Finally, different paths are designed to verify the theoretical analysis of the control performance in the controllers.
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