Electrical engineering

Physics

Control engineering

Nonlinear system

Automotive engineering

Perturbation (astronomy)

Sliding mode control

Backstepping

Gene

Adaptive control

Engineering

Control system

Artificial intelligence

Control (management)

Chemistry

Steering system

Computer science

Quantum mechanics

Vehicle dynamics

Robust control

Kinematics

Control theory (sociology)

Biochemistry

Robustness (evolution)

Classical mechanics

IEEE Access

Automatic steering system of self-driving vehicles has significant influence on vehicle safety. The performance of automatic steering system is affected by external disturbance, parameter perturbation, and real-time ability of control algorithm. First, to develop a high-performance automatic steering control strategy, a vehicle-road system model based on vehicle dynamics and kinematics is established. Then, the system state equation with direction-angle and lateral-position deviations is derived to describe the tracking accuracy. Finally, based on the sliding mode variable structure control method, an automatic steering control algorithm is proposed and verified. The results show that the dynamic quality of the system is improved with the optimization of the sliding mode. Furthermore, good robustness against vehicular velocity, real-time performance, and tracking accuracy is achieved.

Automatic Steering Control Strategy for Unmanned Vehicles Based on Robust Backstepping Sliding Mode Control Theory