国家自然科学基金项目(61673098), 北京科技大学顺德研究生院科技创新专项资金(BK19BE022), 中央高校基本业务经费.
1.University of Science and Technology Beijing,Beijing City University;2.University of Science and Technology Beijing
Funds of National Natural Science Foundation of China (No. 61673098 ), Scientific and Technological Innovation Foundation of Shunde Graduate School, USTB (No. BK19BE022 ), the Fundamental Research Funds for the Central Universities
In this paper, a sliding mode controller based on linear matrix inequality(LMI) is designed to solve the path tracking problem for autonomous vehicle systems with mismatched uncertainties. Firstly, the nonlinear system model is established based on the vehicle kinematics and dynamics equations, taking into account of the uncertainty caused by the sideslip of the tire, the constraint of vehicle sideslip and random interference. Secondly, a linear sliding mode path tracking control method is proposed for the linearized model. LMI is used to provide sufficient conditions for the existence of sliding mode surface which gurantees the quadratic stability of the closed-loop system. Finally, in the serret-Frenet coordinate system, the effectiveness of the method proposed in verified. Simulation results show that the reference path is tracked accurately using the controlled designed in this paper, which provides strong robustness.