Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus

A robust and high-performance lateral control system is necessary for autonomous bus driving in complex downtown roads. In this paper, a Sliding Mode (SM) controller with an uncertainty observer is proposed to reduce the chattering phenomenon while ensuring robustness and maintaining the control per...

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Bibliographic Details

Published in:	IEEE Access
Main Authors:	Hun Hwangbo, Jaeun Ryu, Sangwon Han, Kunsoo Huh
Format:	Article
Language:	English
Published:	IEEE 2023-01-01
Subjects:	Autonomous bus lateral control system sliding mode control path planning model uncertainty stiffness gain
Online Access:	https://ieeexplore.ieee.org/document/10181314/