In this paper, an adaptive sliding mode control strategy is proposed for the trajectory tracking problem of vehicles in complex environments. Firstly, a two-degree-of-freedom vehicle dynamics model is established, and the error model is further obtained and designed. When the model contains unknown disturbances, an adaptive sliding mode controller is designed to realize the trajectory tracking control of the vehicle, and the adaptive reaching law is improved. The stability of the designed controller is proved theoretically. Finally, the simulation results show that the designed controller can achieve good vehicle trajectory tracking.
Trajectory Tracking Control Design of Unmanned Vehicle Based on Adaptive Sliding Mode
2023-10-26
1223942 byte
Conference paper
Electronic Resource
English
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