Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold

Cong Phat Vo, Quoc Hung Hoang, Tae-Hyun Kim and Jeong hwan Jeon ()
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Cong Phat Vo: Department of Electrical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan 44919, Republic of Korea
Quoc Hung Hoang: Department of Intelligent Systems and Robotics, Chungbuk National University, Cheongju 28644, Republic of Korea
Tae-Hyun Kim: Hanwha Systems Co., Ltd., Seongnam 13524, Republic of Korea
Jeong hwan Jeon: Department of Electrical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan 44919, Republic of Korea

Mathematics, 2024, vol. 12, issue 4, 1-16

Abstract: This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and external disturbances are estimated by a high-gain disturbance observer to compensate for the designed control input. Successively, a super-twisting algorithm is incorporated into the final control law, significantly mitigating the chattering phenomenon of both the input control signal and the output trajectory. Furthermore, the global finite-time convergence and stability of the whole proposed control algorithm are proven by the Lyapunov theory. Finally, the efficacy of the proposed method is validated with comparisons in a numerical example. It obtains high control performance, reduced chattering, fast convergence rate, singularity avoidance, and robustness against uncertainties.

Keywords: nonsingular fast terminal sliding mode manifold; self-tuning rule; robust control; finite-time convergence; autonomous ground vehicles; disturbance observer; Lyapunov approach (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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