Unmanned Vehicle Based on Sliding Mode Expansion Observer Lateral Control of Trajectory Tracking

This paper mainly studies the lateral control of unmanned vehicles.The purpose is to minimize the error of the car relative to a given reference trajectory during the tracking process. A robust control method for unmanned vehicle trajectory tracking based on sliding mode control is proposed to make the unmanned vehicle which track a given reference trajectory. At the same time, in order to eliminate the uncertainties of system model parameters, coupling between motion planes and external interference, an extended observer is designed to suppress the influence, and the algorithm is analyzed for Lyapunov stability. Finally, through the SIMULINK simulation tool in MATLAB, under the conditions of fixed trajectory curvature and longitudinal speed, the simulation of vehicle turning conditions is verified by simulation experiments. The results show that the designed controller based on sliding mode observer makes the vehicle quickly reduce the error relative to the given reference trajectory, effectively suppress the interference, and improve the robustness of the system.