Longitudinal Dynamic Control under Complex Driving Conditions via Fuzzy Logic Sliding-mode Control

To track desired speed of autonomous vehicle, the longitudinal motion control algorithm was proposed based on the smooth switching between throttle actuator and brake actuator using sliding-mode control strategy. By adjusting the switching gain of the sliding-mode surface with fuzzy logic, the oscillation of the sliding-mode variable structure control system was effectively reduced. The stability of the closed-loop system was proved by Lyapunov method. The control effect was simulated under various driving processes. Simulation results show that the fuzzy logic sliding-mode control algorithm has high tracking accuracy and strong robustness even in the presence of uncertainties and external disturbances.