Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold
This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and exte...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-02-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/12/4/549 |
| _version_ | 1797297519886073856 |
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| author | Cong Phat Vo Quoc Hung Hoang Tae-Hyun Kim Jeong hwan Jeon |
| author_facet | Cong Phat Vo Quoc Hung Hoang Tae-Hyun Kim Jeong hwan Jeon |
| author_sort | Cong Phat Vo |
| collection | DOAJ |
| description | This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and external disturbances are estimated by a high-gain disturbance observer to compensate for the designed control input. Successively, a super-twisting algorithm is incorporated into the final control law, significantly mitigating the chattering phenomenon of both the input control signal and the output trajectory. Furthermore, the global finite-time convergence and stability of the whole proposed control algorithm are proven by the Lyapunov theory. Finally, the efficacy of the proposed method is validated with comparisons in a numerical example. It obtains high control performance, reduced chattering, fast convergence rate, singularity avoidance, and robustness against uncertainties. |
| first_indexed | 2024-03-07T22:22:30Z |
| format | Article |
| id | doaj.art-197f56a077cb482aaa58b2337105c8de |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-07T22:22:30Z |
| publishDate | 2024-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-197f56a077cb482aaa58b2337105c8de2024-02-23T15:26:08ZengMDPI AGMathematics2227-73902024-02-0112454910.3390/math12040549Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding ManifoldCong Phat Vo0Quoc Hung Hoang1Tae-Hyun Kim2Jeong hwan Jeon3Department of Electrical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan 44919, Republic of KoreaDepartment of Intelligent Systems and Robotics, Chungbuk National University, Cheongju 28644, Republic of KoreaHanwha Systems Co., Ltd., Seongnam 13524, Republic of KoreaDepartment of Electrical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan 44919, Republic of KoreaThis work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and external disturbances are estimated by a high-gain disturbance observer to compensate for the designed control input. Successively, a super-twisting algorithm is incorporated into the final control law, significantly mitigating the chattering phenomenon of both the input control signal and the output trajectory. Furthermore, the global finite-time convergence and stability of the whole proposed control algorithm are proven by the Lyapunov theory. Finally, the efficacy of the proposed method is validated with comparisons in a numerical example. It obtains high control performance, reduced chattering, fast convergence rate, singularity avoidance, and robustness against uncertainties.https://www.mdpi.com/2227-7390/12/4/549nonsingular fast terminal sliding mode manifoldself-tuning rulerobust controlfinite-time convergenceautonomous ground vehiclesdisturbance observer |
| spellingShingle | Cong Phat Vo Quoc Hung Hoang Tae-Hyun Kim Jeong hwan Jeon Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold Mathematics nonsingular fast terminal sliding mode manifold self-tuning rule robust control finite-time convergence autonomous ground vehicles disturbance observer |
| title | Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold |
| title_full | Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold |
| title_fullStr | Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold |
| title_full_unstemmed | Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold |
| title_short | Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold |
| title_sort | finite time robust path following control of perturbed autonomous ground vehicles using a novel self tuning nonsingular fast terminal sliding manifold |
| topic | nonsingular fast terminal sliding mode manifold self-tuning rule robust control finite-time convergence autonomous ground vehicles disturbance observer |
| url | https://www.mdpi.com/2227-7390/12/4/549 |
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