Adaptive fuzzy sliding mode control algorithm based on input-output linearization for vehicle's lateral control

A modified control approach combined with Input-output linear algorithm and adaptive fuzzy sliding mode algorithm is proposed to adapt the non-linear and time-varying nature of vehicle's lateral control. In order to design the controller, this paper changed the nonlinear control model to a linear form using Input-output linear algorithm. And fuzzy sliding mode control method is introduced to the algorithm to increase the robustness of the system. In addition, the control effectiveness has been discussed in the simulation part. Simulation results show: despite external environmental factors and vehicle's own parameters has changed, the system still track the desired path accurately, vehicle's lateral deviation and direction deviation approaching zero rapidly. Compare with the pure sliding mode algorithm, chattering amplitude reduced by 82%~92%.