Finite-time variable gains super-twisting control for lane-changing of autonomous vehicles
Uncertainties, parameters variations and external disturbances may affect highly the task of lane-keeping, lane-changing and path-tacking autonomous vehicles. This paper presents a novel variable gains second-order sliding mode algorithm for en-hanced path tracking performance of autonomous vehicles...
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| Published in | AIP conference proceedings Vol. 3034; no. 1 |
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| Main Authors | , , , |
| Format | Journal Article Conference Proceeding |
| Language | English |
| Published |
Melville
American Institute of Physics
05.03.2024
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0094-243X 1935-0465 1551-7616 1551-7616 |
| DOI | 10.1063/5.0194628 |
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| Abstract | Uncertainties, parameters variations and external disturbances may affect highly the task of lane-keeping, lane-changing and path-tacking autonomous vehicles. This paper presents a novel variable gains second-order sliding mode algorithm for en-hanced path tracking performance of autonomous vehicles subject to uncertainties and disturbances. The used algorithm is a modified super-twisting with both nonlinear and linear correction terms. Hence, the proposed method doesn’t suffer from the chattering phenomenon, ensures high order precision and guarantees both the robustness against perturbations and the convergence in finite-time during the reaching phase. To evaluate the efficiency of the developed approach, a double lane-changing scenario is considered in simulation for an uncertain autonomous vehicle and the results are compared with the first-order sliding mode. |
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| AbstractList | Uncertainties, parameters variations and external disturbances may affect highly the task of lane-keeping, lane-changing and path-tacking autonomous vehicles. This paper presents a novel variable gains second-order sliding mode algorithm for en-hanced path tracking performance of autonomous vehicles subject to uncertainties and disturbances. The used algorithm is a modified super-twisting with both nonlinear and linear correction terms. Hence, the proposed method doesn’t suffer from the chattering phenomenon, ensures high order precision and guarantees both the robustness against perturbations and the convergence in finite-time during the reaching phase. To evaluate the efficiency of the developed approach, a double lane-changing scenario is considered in simulation for an uncertain autonomous vehicle and the results are compared with the first-order sliding mode. |
| Author | Kali, Yassine Saad, Maarouf Landry, Mario Comtois-Rivet, Pier-Marc |
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| Editor | Seaid, Mohammed Belhamadia, Youssef |
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| References | Kali, Fallaha, Rodas, Saad, Lesme (c23) 2021 Porter, Stone, Legacy, Curtis, Harris, Fishman, Kent, Marsden, Reardon, Stilgoe (c1) 2018 Fallaha, Saad, Ghommam, Kali (c11) 2021 Kali, Saad, Benjelloun, Fatemi (c14) 2017 Wang, Liu, Ping, An (c4) 2019 Kapania, Gerdes (c5) 2015 Alcala, Puig, Quevedo, Escobet, Comasolivas (c7) 2018 Yu, Yu, Shirinzadeh, Man (c22) 2005 Suryawanshi, Shendge, Phadke (c13) 2016 Sabiha, Kamel, Said, Hussein (c6) 2020 Levant (c18) 2003 Kali, Saad, Benjelloun (c19) 2018 Ahn, Peng, Tseng (c21) 2011 Tejado, Milanés, Villagrá, Godoy, HosseinNia, Vinagre (c2) 2011 Petrov, Nashashibi (c3) 2014 Taghavifar, Rakheja (c16) 2019 Fallaha, Saad, Kanaan, Al-Haddad (c20) 2011 Peng, Yu, Zhou, Xiao, Fang (c8) 2020 Kali, Rodas, Ayala, Saad, Gregor, Benjelloun, Doval-Gandoy, Goodwin (c15) 2018 Kali, Rodas, Gregor, Saad, Benjelloun (c9) 2018 Fridman (c12) 2001 Hajjami, Mellouli, Berrada (c17) 2020 Kali, Saad, Doval-Gandoy, Rodas, Benjelloun (c10) 2019 |
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| Snippet | Uncertainties, parameters variations and external disturbances may affect highly the task of lane-keeping, lane-changing and path-tacking autonomous vehicles.... |
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| SubjectTerms | Algorithms Disturbances Lane changing Lane keeping Parameter uncertainty Path tracking Twisting Vehicles |
| Title | Finite-time variable gains super-twisting control for lane-changing of autonomous vehicles |
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