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Volume 12
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10.3390/math12040549
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Article

Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold

by
Cong Phat Vo
1,
Quoc Hung Hoang
2,
Tae-Hyun Kim
3 and
Jeong hwan Jeon
1,4,*
1
Department of Electrical Engineering, Ulsan National Institute of Science and Technology (UNIST), Ulsan 44919, Republic of Korea
2
Department of Intelligent Systems and Robotics, Chungbuk National University, Cheongju 28644, Republic of Korea
3
Hanwha Systems Co., Ltd., Seongnam 13524, Republic of Korea
4
Graduate School of Artificial Intelligence, Ulsan National Institute of Science and Technology (UNIST), Ulsan 44919, Republic of Korea
*
Author to whom correspondence should be addressed.
Mathematics 2024, 12(4), 549; https://doi.org/10.3390/math12040549
Submission received: 22 January 2024 / Revised: 7 February 2024 / Accepted: 8 February 2024 / Published: 10 February 2024
(This article belongs to the Special Issue Control Theory and Applications, 2nd Edition)
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Abstract

This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and external disturbances are estimated by a high-gain disturbance observer to compensate for the designed control input. Successively, a super-twisting algorithm is incorporated into the final control law, significantly mitigating the chattering phenomenon of both the input control signal and the output trajectory. Furthermore, the global finite-time convergence and stability of the whole proposed control algorithm are proven by the Lyapunov theory. Finally, the efficacy of the proposed method is validated with comparisons in a numerical example. It obtains high control performance, reduced chattering, fast convergence rate, singularity avoidance, and robustness against uncertainties.
Keywords: nonsingular fast terminal sliding mode manifold; self-tuning rule; robust control; finite-time convergence; autonomous ground vehicles; disturbance observer; Lyapunov approach nonsingular fast terminal sliding mode manifold; self-tuning rule; robust control; finite-time convergence; autonomous ground vehicles; disturbance observer; Lyapunov approach

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MDPI and ACS Style

Vo, C.P.; Hoang, Q.H.; Kim, T.-H.; Jeon, J.h. Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold. Mathematics 2024, 12, 549. https://doi.org/10.3390/math12040549

AMA Style

Vo CP, Hoang QH, Kim T-H, Jeon Jh. Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold. Mathematics. 2024; 12(4):549. https://doi.org/10.3390/math12040549

Chicago/Turabian Style

Vo, Cong Phat, Quoc Hung Hoang, Tae-Hyun Kim, and Jeong hwan Jeon. 2024. "Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold" Mathematics 12, no. 4: 549. https://doi.org/10.3390/math12040549

APA Style

Vo, C. P., Hoang, Q. H., Kim, T.-H., & Jeon, J. h. (2024). Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold. Mathematics, 12(4), 549. https://doi.org/10.3390/math12040549

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