Design of a continuous sliding mode controller for path tracking of an articulated vehicle

Abstract EN

This article presents design and evaluation of a sliding mode control scheme, being applied to the case of an articulated vehicle.

The proposed Sliding Mode Controller (SMC) is based on a continuous sliding surface, being introduced for reducing the chattering phenomenon, while achieving a better tracking performance and a fast minimization of the corresponding tracking error.

The derivation of the sliding mode controller relies on the fully nonlinear kinematic model of the articulated vehicle, while the overall stability of the control scheme is proven based on the Lyapunovs stability condition.

The performance of the established control scheme is evaluated through circle path tracking scenario on a small-scale articulated vehicle