Control of Autonomous Vehicle for Lateral Dynamics using Sliding Mode and Input-to State Stability Methods

This paper considers the stabilization problem of a surface autonomous vehicle and develops a control method for efficient lane keeping. The proposed control law is composed of two components; first is Lyapunov stability based sliding mode control (SMC) designed for the vehicle dynamics for stable and robust operation, the other one is Input-to-StateStability (ISS) based control designed for the lane keeping performance. It is shown that the proposed controller for nonlinear dynamics is easier due to its simple derivation. The closed-loop system performance and robustness analysis has been presented through a simulation exercise. The results show that the stability is maintained with negligible lateral deviation even in bending motion.