Adaptive Multivariable Super-Twisting Control for Lane Keeping of Autonomous Vehicles with Differential Steering

This paper investigates the lane keeping control for four-wheel independently actuated autonomous vehicles. To guarantee the vehicle safety when the active-steering motor entirely fails, the steering manoeuvre is accomplished by the differential drive assisted steering (DDAS), which is generated by the differential moment between the front wheels. A novel adaptive multivariable super-twisting control strategy is proposed to realize the control objective in finite time, considering the multiple unknown and mismatched disturbances of the steering system with the chattering effect removed. In the sliding surface, a nonlinear function is designed to adaptively change the damping ratio of the closed-loop system so as to improve the transient performance of the lane keeping control in the faulty condition. The finite-time convergence of the closed-loop system is proved by Lyapunov function technique. Results of CarSim-Simulink simulations with a high-fidelity and full-car model have verified the effectiveness and robustness of the proposed controller in the lane keeping control with DDAS and guaranteeing high performance.

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