The Integrated Disturbance Estimation and Non-Singular Terminal Sliding Mode Longitudinal Motion Controller for Low-Speed Autonomous Electric Vehicles

• Published in: Sensors
• Main Authors: Boyuan Li, Wenfei Li, Wei Hua, Lei Guo, Haitao Xing, Hangbin Tang, Chao Huang
• Format: Article
• Language: English
• Published: MDPI AG 2025-09-01
• Subjects: disturbance estimation; non-singular terminal sliding mode control; model uncertainty; actuator delay
• Online Access: https://www.mdpi.com/1424-8220/25/18/5799

In the current literature, few motion control studies have considered the disturbances caused by road profile, model uncertainty, and actuator delay in regard to low-speed autonomous vehicles. In addition, motion controller designs usually rely on motor/brake torque control, which is not always available. This study outlines an integrated disturbance estimation and non-singular terminal sliding mode controller (NS-TSMC) to overcome disturbances in low-speed scenarios through traction/brake pedal position control. First, a longitudinal dynamic model that considers a detailed brake-by-wire hydraulic braking system model and a motor actuator model is proposed. Road disturbances, model uncertainty, and actuator delays are also considered in vehicle modelling. This vehicle model was verified through experimental data from a low-speed autonomous sightseeing vehicle. Then, based on the proposed vehicle model, the disturbance and uncertain parameter estimator was designed and integrated with NS-TSMC to achieve longitudinal motion control through throttle/brake pedal control. Experimental results from the experimental sightseeing vehicle and simulation results demonstrated the improvement of the longitudinal motion tracking performance and motion comfort compared with a benchmark proportional–integral–derivative (PID) longitudinal motion controller.