Fuzzy Sliding Mode Control for Improving the Handling Stability of Intelligent Vehicles with 4WS

To address the trajectory tracking problem of autonomous vehicles, a novel fuzzy sliding mode control strategy is proposed to enhance vehicle handling stability. Based on a two-degree-of-freedom dynamic model and a lateral error model, a sliding mode controller with a novel reaching law is developed, effectively suppressing chattering and improving trajectory tracking accuracy. Furthermore, the fuzzy logic is introduced to adjust the sliding mode parameters in real-time, reducing system errors and overshoot, and accelerating the stabilization process. the proposed control strategy is extended to the intelligent vehicle integrating 4WS technology. The effectiveness of the proposed control strategy is verified through Simulink/Carsim cosimulation. Simulation results demonstrate that the fuzzy sliding mode control method enables the vehicle to follow the desired trajectory more quickly and accurately while rapidly and precisely tracking the ideal yaw rate and sideslip angle.