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Autonomous Steering and Cruise Control of Automobiles Via Sliding Mode Control
Published October 24, 1994 by Society of Automotive Engineers of Japan in Japan
An application of sliding mode control to the steering and throttle control of an automobile is presented. A simple 3-state model is derived from a full- order vehicle model for control. This simple model retains the kinematic coupling terms between the longitudinal and lateral motions and is nonlinear in the states and inputs. For this reasons, an approach which stresses the simultaneous solution of the lateral and longitudinal controls is advocated. The sliding mode methodology is chosen because of its attractive robustness properties. To overcome the associated chattering problem, an observer is implemented along with the controller. The sliding controller's demand for high actuation rates resulted in violations of the simplified model and poor riding comfort. The design is modified by replacing the switching term in the control with a smooth approximation. The controller-observer is simulated on the full-order vehicle model. The results are compared against the de-coupled longitudinal PID and lateral PID controllers'