Paper Info
Title
Automatic Steering Control Strategy for Unmanned Vehicles Based on Robust Backstepping Sliding Mode Control Theory.
Abstract
Automatic steering system of self-driving vehicles has significant influence on vehicle safety. The performance of automatic steering system is affected by external disturbance, parameter perturbation, and real-time ability of control algorithm. First, to develop a high-performance automatic steering control strategy, a vehicle-road system model based on vehicle dynamics and kinematics is established. Then, the system state equation with direction-angle and lateral-position deviations is derived to describe the tracking accuracy. Finally, based on the sliding mode variable structure control method, an automatic steering control algorithm is proposed and verified. The results show that the dynamic quality of the system is improved with the optimization of the sliding mode. Furthermore, good robustness against vehicular velocity, real-time performance, and tracking accuracy is achieved.
Year
DOI
Venue
2019
10.1109/ACCESS.2019.2917507
IEEE ACCESS
Keywords
Field
DocType
Autonomous vehicle,automatic steering system,sliding mode control,path tracking
Backstepping,Kinematics,Computer science,Control theory,Robustness (computer science),Vehicle dynamics,Variable structure control,System model,Perturbation (astronomy),Sliding mode control,Distributed computing
Journal
Volume
ISSN
Citations 
7
2169-3536
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Pengwei Wang114216.01
Song Gao221.11
Liang Li310225.00
Shuo Cheng462.13
Lin Zhao500.68