A Robust Intelligent Controller for Autonomous Ground Vehicle Longitudinal Dynamics
نویسندگان
چکیده
In this paper, a novel adaptive sliding mode controller (SMC) was designed based on robust law considering disturbances and uncertainties for autonomous ground vehicle (AGV) longitudinal dynamics. The utilized in an innovative method involving the upper bounds of uncertainties. Estimating lumped uncertainty limit neural network approach allowed its online knowledge. It guided to withstand disturbance compensate A stability analysis, according Lyapunov, completed confirm asymptotic convergence states desired state. effectiveness benefits planned were scrutinized by simulations comparative studies.
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2022
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13010501