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论文类型：期刊论文

发表时间：2013-01-01

发表刊物：International Journal of Vehicle Autonomous Systems

收录刊物：EI、Scopus

卷号：11

期号：4

页面范围：368-383

ISSN号：14710226

摘要：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.