Velocity control is a key function of autonomous vehicles (AVs). Speed control, particularly in areas such as overtaking, platooning and change in lane, is critical in AV operations. In literature, however, there are various methods of cruise control, most of which suffer from the inability to manage nonlinearities and disturbances, their fixed gain characteristics and their chatter sensitivity. This research presents a sliding mode control scheme for speed control in AVs with the aim of addressing these limitations. The SMC's super twisting variant is implemented here to handle chattering while the controller gain is chosen adaptively using a fuzzy logic system. The results showed good velocity reference tracking performance, ensuring convergence of the error value to zero. This scheme can be implemented in AVs for effective velocity control operations.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Fuzzy Super Twisting Sliding Mode Control Scheme for Velocity Regulation in Autonomous Vehicles




    Publication date :

    2021-07-15


    Size :

    496251 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




    Model Predictive Super-Twisting Sliding Mode Control for an Autonomous Surface Vehicle

    Esfahani Hossein Nejatbakhsh / Szlapczynski Rafal | DOAJ | 2019

    Free access

    Model Predictive Super-Twisting Sliding Mode Control for an Autonomous Surface Vehicle

    Esfahani, Hossein Nejatbakhsh / Szlapczynski, Rafal | Online Contents | 2019


    Super-Twisting Second-Order Sliding Mode Control for Automated Drifting of Distributed Electric Vehicles

    Zhang, Junzhi / Liu, Weilong / Hou, Xiaohui et al. | SAE Technical Papers | 2020


    Super-Twisting Second-Order Sliding Mode Control for Automated Drifting of Distributed Electric Vehicles

    Hou, Xiaohui / Zhang, Junzhi / Liu, Weilong et al. | British Library Conference Proceedings | 2020