Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control
Joint Authors
Liu, Jian
Zhao, Hongyu
Wang, Yiqun
Ji, Daxiong
Source
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-6, 6 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-08-20
Country of Publication
Egypt
No. of Pages
6
Main Subjects
Abstract EN
A solution to the path following problem for underactuated autonomous vehicles in the presence of possibly large modeling parametric uncertainty is proposed.
For a general class of vehicles moving in 2D space, we demonstrated a path following control law based on multiple variable sliding mode that yields global boundedness and convergence of the position tracking error to a small neighborhood and robustness to parametric modeling uncertainty.
An error integration element is added into the “tanh” function of the traditional sliding mode control.
We illustrated our results in the context of the vehicle control applications that an underwater vehicle moves along with the desired paths in 2D space.
Simulations show that the control objectives were accomplished.
American Psychological Association (APA)
Ji, Daxiong& Liu, Jian& Zhao, Hongyu& Wang, Yiqun. 2014. Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control. Journal of Robotics،Vol. 2014, no. 2014, pp.1-6.
https://search.emarefa.net/detail/BIM-1042866
Modern Language Association (MLA)
Ji, Daxiong…[et al.]. Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control. Journal of Robotics No. 2014 (2014), pp.1-6.
https://search.emarefa.net/detail/BIM-1042866
American Medical Association (AMA)
Ji, Daxiong& Liu, Jian& Zhao, Hongyu& Wang, Yiqun. Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control. Journal of Robotics. 2014. Vol. 2014, no. 2014, pp.1-6.
https://search.emarefa.net/detail/BIM-1042866
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1042866