Robust Backstepping Super-Twisting Sliding Mode Control for Autonomous Vehicle Path Following

Robust Backstepping Super-Twisting Sliding Mode Control for Autonomous Vehicle Path Following

This paper focuses on the path following control problems for autonomous driving vehicles. Aiming at enhancing the robustness and attenuating the chattering phenomenon, a super-twisting sliding mode control algorithm (STA) is developed based on Lyapunov theory, where the proof of the stability of th...

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Bibliographic Details
Main Authors: Di Ao, Wei Huang, Pak Kin Wong, Jialin Li
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Path following control
super-twisting sliding mode
backstepping
robustness
perturbations
Online Access:https://ieeexplore.ieee.org/document/9529225/

Internet

https://ieeexplore.ieee.org/document/9529225/

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