Sliding Mode Control for Trajectory Tracking of Intelligent Vehicle

The intelligent vehicle is a complex non-linear system of various machines, sensors and computers, of which the controller design for trajectory tracking is one of the key techniques for intelligent vehicles. For the high qualities of robustness, accuracy and rigid time limitation of high-speed autonomous navigation intelligent vehicle, this paper is about the design of a sliding mode controller, based on the structures and motion model. It realizes that the intelligent vehicle can track random trajectory through controlling the linear velocity and the angular velocity. Through the simulation experiment using Matlab it is showing the effectiveness and reliability of the designed algorithms. (C) 2012 Published by Elsevier B. V. Selection and/or peer review under responsibility of ICMPBE International Committee.