Lane-Keeping Control of Automatic Steering Systems via Adaptive Fuzzy Sliding-Mode Approach

This article presents an adaptive control strategy for lane-keeping task of automatic steering systems via sliding-mode technique. First, considering the road-vehicle lateral dynamics, a standard single track steering model has been developed for the lane-keeping task. To cope with the time-variant nature of the longitudinal velocity and uncertainty of measurement, a class of interval type-2 fuzzy sets considered in this article are employed to reconstruct the steering system dynamics mathematical model. Based on the fuzzy system, an integral sliding surface is proposed and the asymptotic convergence criterion for the overall system is derived with extended dissipation. Furthermore, an adaptive control law is provided to achieve the reachability of the assigned sliding surface and improve the attenuation ability to unknown curvature and exogenous disturbance. Finally, several scenarios with different path-following tasks are given in the simulations. Results demonstrate that the proposed sliding-mode control method has the capability to track the road centerline and is robust to external unknown disturbances.

Automated summary

This article presents an adaptive control strategy for the lane-keeping task of automatic steering systems using sliding-mode technique. It employs interval type-2 fuzzy sets to reconstruct the steering system dynamics model and proposes an integral sliding surface for improved tracking capability and robustness to unknown disturbances.