Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus

Robust Sliding Mode Control With Optimal Path Following for Lateral Motion of Autonomous Bus

A robust and high-performance lateral control system is necessary for autonomous bus driving in complex downtown roads. In this paper, a Sliding Mode (SM) controller with an uncertainty observer is proposed to reduce the chattering phenomenon while ensuring robustness and maintaining the control per...

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Bibliographic Details
Main Authors: Hun Hwangbo, Jaeun Ryu, Sangwon Han, Kunsoo Huh
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
Autonomous bus
lateral control system
sliding mode control
path planning
model uncertainty
stiffness gain
Online Access:https://ieeexplore.ieee.org/document/10181314/

Internet

https://ieeexplore.ieee.org/document/10181314/

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