Fast Finite-Time Path-Following Control for Autonomous Vehicle via Complete Model-Free Approach

• Published in: IEEE transactions on industrial informatics Vol. 19; no. 3; pp. 2838 - 2846
• Main Authors: Liang, Zhongchao, Wang, Zhongnan, Zhao, Jing, Ma, Xiaoguang
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.03.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Adaptive control; Autonomous vehicles; Control systems; Control systems design; Control theory; Controllers; Errors; Estimation; Finite-time convergence; Informatics; model-free control; path following; Sliding mode control; time-delay control (TDC); time-delay estimation (TDE); Tires; Vehicle dynamics
• ISSN: 1551-3203; 1941-0050
• DOI: 10.1109/TII.2022.3165630

Without any knowledge of the vehicle model and its parameters, a novel complete model-free path-following control strategy is developed for autonomous vehicles based on the time-delay estimation (TDE) technique. Different from the existing time-delay control (TDC) approaches, an adaptive nonsingular terminal sliding mode (ANTSM) control law is designed to stabilize the path-following errors without any information of the suitable control gain, which is significant in the conventional TDC scheme, and the boundary of the TDE error, which is necessary for the sliding-mode-based control scheme. The proposed model-free control structure can dynamically update the gain of the designed controller and the boundaries of the TDE error, and the practical finite-time convergence of the preview error can be achieved. In the HIL tests, the comparative results demonstrate that the proposed ANTSM model-free control strategy can provide superior comprehensive tracking performance over both the model-based sliding mode controller and the conventional TDC controller, while the autonomous vehicle follows desired paths.