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In this paper, a new discrete-time sliding mode approach for linear time-varying system is proposed. The proposed method guarantees that the system states are globally uniformly ultimately bounded in the presence of time-varying disturbance and uncertainly. It is also shown that the closed-loop system is globally asymptotically stable if disturbance and uncertainty are time invariant. Using the proposed control algorithm, steering control of highway vehicles is designed for a fundamentally new deriving maneuver and the tracking problem of relative lateral position is investigated. Also, the robust performance of the proposed controller in response to external disturbance is verified. Simulation results reveal the efficiency of proposed controller.