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Indexed by:期刊论文

Date of Publication:2013-01-01

Journal:International Journal of Vehicle Autonomous Systems

Included Journals:EI、Scopus

Volume:11

Issue:4

Page Number:368-383

ISSN No.:14710226

Abstract:This paper describes the development of a robust longitudinal controller for autonomous ground vehicle with inherent unknown non-linearities and parametric uncertainties. The longitudinal controller is designed using Sliding-Mode Control (SMC) strategy based on fuzzy logic, which works through switching between the throttle actuator and brake actuator according to a predetermined criterion. The proposed longitudinal controller not only eliminates the chattering phenomenon in the Sliding-Mode Control (SMC) but also copes with the system uncertainties and external disturbances. Additionally, the convergence of closed-loop longitudinal control system is proved by the Lyapunov stability theory. Finally, simulation and experimental results indicate the strong robustness and commendable tracking performance of proposed controller. Copyright ? 2013 Inderscience Enterprises Ltd.