Development of a Sliding-Mode-Control-Based Path-Tracking Algorithm with Model-Free Adaptive Feedback Action for Autonomous Vehicles

Abstract

This paper presents a sliding mode control (SMC)-based path-tracking algorithm for autonomous vehicles by considering model-free adaptive feedback actions. In autonomous vehicles, safe path tracking requires adaptive and robust control algorithms because driving environment and vehicle conditions vary in real time. In this study, the SMC was adopted as a robust control method to adjust the switching gain, taking into account the sliding surface and unknown uncertainty to make the control error zero. The sliding surface can be designed mathematically, but it is difficult to express the unknown uncertainty mathematically. Information of priori bounded uncertainties is needed to obtain closed-loop stability of the control system, and the unknown uncertainty can vary with changes in internal and external factors. In the literature, ongoing efforts have been made to overcome the limitation of losing control stability due to unknown uncertainty. This study proposes an integrated method of adaptive feedback control (AFC) and SMC that can adjust a bounded uncertainty. Some illustrative and representative examples, such as autonomous driving scenarios, are also provided to show the main properties of the designed integrated controller. The examples show superior control performance, and it is expected that the integrated controller could be widely used for the path-tracking algorithms of autonomous vehicles.