Adaptive Finite-Time Trajectory Tracking Control of Autonomous Vehicles That Experience Disturbances and Actuator Saturation

This article presents a finite-time tracking control scheme for autonomous vehicles. Trajectory tracking is difficult to control due to dynamic couplings and various disturbances and uncertainties. To cope with a lumped disturbance, a fuzzy logic system is designed. In particular, a novel adaptive algorithm is constructed to adjust the gain online, and it works well even without the prior information of the lumped disturbance bounds. An auxiliary system with a simple structure is built to tackle the actuator saturation. Moreover, the proposed control method can guarantee finite-time error convergence, chattering elimination, and strong robustness. Experiment results are presented to show the effectiveness of the control schemes.