Optimized Super-Twisting Sliding Mode Control with Parameter Estimation for Autonomous Vehicle Longitudinal Motion on Downhill Road
Source abstract
Abstract
Longitudinal motion control is a critical aspect of autonomous vehicle area, requiring a well-designed controller to ensure optimal system performance, safety, and comfort under varying driving conditions. Previous control methods often face challenges such as chattering effects, and model uncertainties. To address such challenges, in this paper, we propose the application of an optimized super-twisting sliding mode control (OST-SMC) for the longitudinal motion control of autonomous vehicles. The motivation is to enhance the robustness and efficiency of the control system while minimizing the chattering problem. The proposed system’s mathematical modeling and control design are presented in detail with stability analyzed using Lyapunov theory. To enhance the controller’s performance, uncertain parameters are optimized using the gradient descent method, a linear regression-based technique. The OST-SMC algorithm shows enhanced robustness against disturbances and parameter uncertainties compared to conventional sliding mode controllers. Simulations in MATLAB/Simulink and CarMaker validate the proposed method, demonstrating strong performance even on downhill roads. The OST-SMC reduces chattering more effectively than traditional SMCs, achieving smooth tracking and consistent robustness under varying road conditions.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Vehicle Dynamics and Control Systems · Real-time simulation and control systems · Hydraulic and Pneumatic Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Intelligent Robot Engineering, Pukyong National University, Busan 48513, Republic of Korea
Department of Control and Instrumentation Engineering, Pukyong National University, Busan 48513, Republic of Korea
Funding
National Research Foundation (NRF) · Smart Robot Convergence and Application Education Research Center · Korea government (MSIT) · Ministry of SMEs and Startups(MSS, Korea)
References (38)
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