Observer-Based Sliding Mode Control for Vehicle Way-Point Tracking with Unknown Disturbances and Obstacles
In this paper, an advanced vehicle way-point tracking control method, including kinematic control, dynamic control and an obstacle avoidance strategy, is introduced. In the kinematic part, a vehicle kinematic model is established, along with the coordinate transformation between the vehicle and its...
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MDPI AG
2025-02-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/2/89 |
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| author | Jiacheng Song Mingjie Shen Yanan Zhang |
| author_facet | Jiacheng Song Mingjie Shen Yanan Zhang |
| author_sort | Jiacheng Song |
| collection | DOAJ |
| description | In this paper, an advanced vehicle way-point tracking control method, including kinematic control, dynamic control and an obstacle avoidance strategy, is introduced. In the kinematic part, a vehicle kinematic model is established, along with the coordinate transformation between the vehicle and its target. A way-point tracking control law is developed to optimize the vehicle’s movement along predefined way-points. In the dynamic part, a dynamic model considering the actual disturbances and losses is established. An observer compensation technique is utilized to monitor and mitigate disturbances, while sliding mode control, enhanced by a HyperSpiral algorithm, ensures accurate and stable tracking performance. Furthermore, to tackle real-world path planning challenges, an improved way-point tracking obstacle-avoidance algorithm is developed to generate effective way-points for navigating around obstacles. Finally, simulation results validate that the vehicle consistently tracks target way-points in complex scenarios, highlighting the robustness and effectiveness of the proposed method. |
| format | Article |
| id | doaj-art-76ca6e1eede5413cbaf944683d68fca7 |
| institution | DOAJ |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-76ca6e1eede5413cbaf944683d68fca72025-08-20T02:44:57ZengMDPI AGActuators2076-08252025-02-011428910.3390/act14020089Observer-Based Sliding Mode Control for Vehicle Way-Point Tracking with Unknown Disturbances and ObstaclesJiacheng Song0Mingjie Shen1Yanan Zhang2College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712000, ChinaCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712000, ChinaCollege of Mechanical and Electronic Engineering, Northwest A&F University, Yangling 712000, ChinaIn this paper, an advanced vehicle way-point tracking control method, including kinematic control, dynamic control and an obstacle avoidance strategy, is introduced. In the kinematic part, a vehicle kinematic model is established, along with the coordinate transformation between the vehicle and its target. A way-point tracking control law is developed to optimize the vehicle’s movement along predefined way-points. In the dynamic part, a dynamic model considering the actual disturbances and losses is established. An observer compensation technique is utilized to monitor and mitigate disturbances, while sliding mode control, enhanced by a HyperSpiral algorithm, ensures accurate and stable tracking performance. Furthermore, to tackle real-world path planning challenges, an improved way-point tracking obstacle-avoidance algorithm is developed to generate effective way-points for navigating around obstacles. Finally, simulation results validate that the vehicle consistently tracks target way-points in complex scenarios, highlighting the robustness and effectiveness of the proposed method.https://www.mdpi.com/2076-0825/14/2/89nonlinear observersliding mode controlway-point tracking controlway-point obstacle avoidance |
| spellingShingle | Jiacheng Song Mingjie Shen Yanan Zhang Observer-Based Sliding Mode Control for Vehicle Way-Point Tracking with Unknown Disturbances and Obstacles Actuators nonlinear observer sliding mode control way-point tracking control way-point obstacle avoidance |
| title | Observer-Based Sliding Mode Control for Vehicle Way-Point Tracking with Unknown Disturbances and Obstacles |
| title_full | Observer-Based Sliding Mode Control for Vehicle Way-Point Tracking with Unknown Disturbances and Obstacles |
| title_fullStr | Observer-Based Sliding Mode Control for Vehicle Way-Point Tracking with Unknown Disturbances and Obstacles |
| title_full_unstemmed | Observer-Based Sliding Mode Control for Vehicle Way-Point Tracking with Unknown Disturbances and Obstacles |
| title_short | Observer-Based Sliding Mode Control for Vehicle Way-Point Tracking with Unknown Disturbances and Obstacles |
| title_sort | observer based sliding mode control for vehicle way point tracking with unknown disturbances and obstacles |
| topic | nonlinear observer sliding mode control way-point tracking control way-point obstacle avoidance |
| url | https://www.mdpi.com/2076-0825/14/2/89 |
| work_keys_str_mv | AT jiachengsong observerbasedslidingmodecontrolforvehiclewaypointtrackingwithunknowndisturbancesandobstacles AT mingjieshen observerbasedslidingmodecontrolforvehiclewaypointtrackingwithunknowndisturbancesandobstacles AT yananzhang observerbasedslidingmodecontrolforvehiclewaypointtrackingwithunknowndisturbancesandobstacles |