4.7 Article

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

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2023.3302618

关键词

Automatic steering system; interval type-2 fuzzy; lane-keeping control; sliding-mode control (SMC)

向作者/读者索取更多资源

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.
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.

作者

我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。

评论

主要评分

4.7
评分不足

次要评分

新颖性
-
重要性
-
科学严谨性
-
评价这篇论文

推荐

暂无数据
暂无数据