Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments
Achieving robust path tracking is essential for efficiently operating autonomous driving systems, particularly in unpredictable environments. This paper introduces a novel path-tracking control methodology utilizing a variable second-order Sliding Mode Control (SMC) approach. The proposed control st...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
|
| Series: | IEEE Open Journal of Vehicular Technology |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10669799/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832582327797022720 |
|---|---|
| author | Jose Matute Sergio Diaz Ali Karimoddini |
| author_facet | Jose Matute Sergio Diaz Ali Karimoddini |
| author_sort | Jose Matute |
| collection | DOAJ |
| description | Achieving robust path tracking is essential for efficiently operating autonomous driving systems, particularly in unpredictable environments. This paper introduces a novel path-tracking control methodology utilizing a variable second-order Sliding Mode Control (SMC) approach. The proposed control strategy addresses the challenges posed by uncertainties and disturbances by reconfiguring and expanding the state-space matrix of a kinematic bicycle model guaranteeing Lyapunov stability and convergence of the system. A state prediction is integrated into the developed SMC to mitigate response time delays. Furthermore, the controller integrates adaptive mechanisms to adjust time-varying parameters within the control formulation based on longitudinal velocity, thereby enhancing path-tracking performance and reducing chattering phenomena. The effectiveness of the proposed approach is comprehensively evaluated through simulations and experiments encompassing challenging driving scenarios characterized by high-curvature paths, varying altitudes, and sensor disturbances, typical in rural driving environments. Results demonstrate that disturbances have varying impacts depending on the type of sensor affected. Real-world tests validate these findings, offering practical insights for automated vehicle path-tracking implementation. |
| format | Article |
| id | doaj-art-a8b961a9137b493d8f7e95bef521caab |
| institution | Kabale University |
| issn | 2644-1330 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of Vehicular Technology |
| spelling | doaj-art-a8b961a9137b493d8f7e95bef521caab2025-01-30T00:04:40ZengIEEEIEEE Open Journal of Vehicular Technology2644-13302024-01-0151314132510.1109/OJVT.2024.345603510669799Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural EnvironmentsJose Matute0https://orcid.org/0000-0003-2754-7623Sergio Diaz1https://orcid.org/0000-0002-2617-2121Ali Karimoddini2https://orcid.org/0000-0001-6084-6831Department of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USATECNALIA Research and Innovation, Basque Research and Technology Alliance (BRTA) Derio, Bizkaia, SpainDepartment of Electrical and Computer Engineering, North Carolina Agricultural and Technical State University, Greensboro, NC, USAAchieving robust path tracking is essential for efficiently operating autonomous driving systems, particularly in unpredictable environments. This paper introduces a novel path-tracking control methodology utilizing a variable second-order Sliding Mode Control (SMC) approach. The proposed control strategy addresses the challenges posed by uncertainties and disturbances by reconfiguring and expanding the state-space matrix of a kinematic bicycle model guaranteeing Lyapunov stability and convergence of the system. A state prediction is integrated into the developed SMC to mitigate response time delays. Furthermore, the controller integrates adaptive mechanisms to adjust time-varying parameters within the control formulation based on longitudinal velocity, thereby enhancing path-tracking performance and reducing chattering phenomena. The effectiveness of the proposed approach is comprehensively evaluated through simulations and experiments encompassing challenging driving scenarios characterized by high-curvature paths, varying altitudes, and sensor disturbances, typical in rural driving environments. Results demonstrate that disturbances have varying impacts depending on the type of sensor affected. Real-world tests validate these findings, offering practical insights for automated vehicle path-tracking implementation.https://ieeexplore.ieee.org/document/10669799/Automated vehiclespath trackingrobustnessrural environmentssliding mode controlvehicle control |
| spellingShingle | Jose Matute Sergio Diaz Ali Karimoddini Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments IEEE Open Journal of Vehicular Technology Automated vehicles path tracking robustness rural environments sliding mode control vehicle control |
| title | Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments |
| title_full | Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments |
| title_fullStr | Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments |
| title_full_unstemmed | Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments |
| title_short | Sliding Mode Control for Robust Path Tracking of Automated Vehicles in Rural Environments |
| title_sort | sliding mode control for robust path tracking of automated vehicles in rural environments |
| topic | Automated vehicles path tracking robustness rural environments sliding mode control vehicle control |
| url | https://ieeexplore.ieee.org/document/10669799/ |
| work_keys_str_mv | AT josematute slidingmodecontrolforrobustpathtrackingofautomatedvehiclesinruralenvironments AT sergiodiaz slidingmodecontrolforrobustpathtrackingofautomatedvehiclesinruralenvironments AT alikarimoddini slidingmodecontrolforrobustpathtrackingofautomatedvehiclesinruralenvironments |