Autonomous Vehicle Steering-based Feedback Linearization and Sliding Mode Control

Anssam Kames; Ali  Mary; Laith  Mayyahi; Oday  Al-Jerew

Article Details

Autonomous Vehicle Steering-based Feedback Linearization and Sliding Mode Control

Authors:

Anssam Kames | Ali Mary | Laith Mayyahi | Oday Al-Jerew

Publisher:

University of Baghdad

Journal:

Al-Khwarizmi Engineering Journal Vol.21 Issue 3, pp.48-54

Document Type:

Article

Publication Date:

1/2025

Document Language:

English

Document ID (Org No.):

2001539625

pISSN:

2312-0789

Keywords:

Abstract:

 This study proposes a robust control approach for vehicular dynamic system speed control. The proposed method combines a sliding mode controller with a feedback linearization technique. Considering the high nonlinearity of the vehicle dynamic system model, feedback linearization is used to transform the vehicle dynamic system into a linear system. A Lyapunov theorem is used to approve the stability of the proposed controller. Moreover, a proportional integral derivative (PID) controller with genetic algorithms is used for comparison. The integral absolute error (IAE) is used as the performance comparison index between controllers. Simulation results show that the proposed method can achieve excellent performance with high robustness against external disturbance and system uncertainty. In the tracking case, the IAE value of the proposed controller is 2.3, whilst that of the PID is 15.2. Under external disturbance, the IAE values are 3.1 and 19.1 for the proposed controller and PID, respectively.

Article Details

Autonomous Vehicle Steering-based Feedback Linearization and Sliding Mode Control

Authors:

Anssam Kames | Ali Mary | Laith Mayyahi | Oday Al-Jerew

Publisher:

University of Baghdad

Journal:

Al-Khwarizmi Engineering Journal Vol.21 Issue 3, pp.48-54

Document Type:

Article

Publication Date:

1/2025

Document Language:

English

Document ID (Org No.):

2001539625

pISSN:

2312-0789

Feedback Linearization

Robust control

SMC

Issues

Article Details

Autonomous Vehicle Steering-based Feedback Linearization and Sliding Mode Control

Authors: Anssam Kames | Ali Mary | Laith Mayyahi | Oday Al-Jerew

Publisher: University of Baghdad

Journal: Al-Khwarizmi Engineering Journal Vol.21 Issue 3, pp.48-54

Document Type: Article

Publication Date: 1/2025

Document Language: English

Document ID (Org No.): 2001539625

pISSN: 2312-0789

Feedback Linearization

Robust control

SMC

Issues

Authors:

Anssam Kames | Ali Mary | Laith Mayyahi | Oday Al-Jerew

Publisher:

University of Baghdad

Journal:

Al-Khwarizmi Engineering Journal Vol.21 Issue 3, pp.48-54

Document Type:

Article

Publication Date:

1/2025

Document Language:

English

Document ID (Org No.):

2001539625

pISSN:

2312-0789