Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control

Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control

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...

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Main Authors: Daxiong Ji, Jian Liu, Hongyu Zhao, Yiqun Wang
Format: Article
Language:English
Published: Hindawi Limited 2014-01-01
Series:Journal of Robotics
Online Access:http://dx.doi.org/10.1155/2014/217875
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spelling doaj-db48660eb3a64f988e998338ae2f01fa2020-11-24T22:41:24ZengHindawi LimitedJournal of Robotics1687-96001687-96192014-01-01201410.1155/2014/217875217875Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode ControlDaxiong Ji0Jian Liu1Hongyu Zhao2Yiqun Wang3State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Shenyang 110016, ChinaA 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.http://dx.doi.org/10.1155/2014/217875
collection DOAJ
language English
format Article
sources DOAJ
author Daxiong Ji
Jian Liu
Hongyu Zhao
Yiqun Wang
spellingShingle Daxiong Ji
Jian Liu
Hongyu Zhao
Yiqun Wang
Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control
Journal of Robotics
author_facet Daxiong Ji
Jian Liu
Hongyu Zhao
Yiqun Wang
author_sort Daxiong Ji
title Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control
title_short Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control
title_full Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control
title_fullStr Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control
title_full_unstemmed Path Following of Autonomous Vehicle in 2D Space Using Multivariable Sliding Mode Control
title_sort path following of autonomous vehicle in 2d space using multivariable sliding mode control
publisher Hindawi Limited
series Journal of Robotics
issn 1687-9600
1687-9619
publishDate 2014-01-01
description 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.
url http://dx.doi.org/10.1155/2014/217875
work_keys_str_mv AT daxiongji pathfollowingofautonomousvehiclein2dspaceusingmultivariableslidingmodecontrol
AT jianliu pathfollowingofautonomousvehiclein2dspaceusingmultivariableslidingmodecontrol
AT hongyuzhao pathfollowingofautonomousvehiclein2dspaceusingmultivariableslidingmodecontrol
AT yiqunwang pathfollowingofautonomousvehiclein2dspaceusingmultivariableslidingmodecontrol
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