Robust Control Framework for Lateral Dynamics of Autonomous Vehicle Using Barrier Lyapunov Function

Abstract

This article presents the robust lateral control of an autonomous vehicle in the presence of unknown lateral tire forces, road curvature angle, and parametric uncertainties. The sliding mode control (SMC) with barrier Lyapunov function is implemented to guarantee the system robustness while maintaining the outputs of the system in realistic bounds. Following the model reduction approach, the slow and fast dynamics of the system are separately controlled using the proposed control technique. The efficacy of the proposed control technique is examined by comparing the simulation results with conventional sliding mode control in two-time scales.