Fixed Settling Time Longitudinal Control of Self-Driving Car

This article presents the robust control framework for the longitudinal motion of the self-driving car in an uncertain environment. As a theoretical contribution, a fixed settling time sliding mode controller (FSTSMC) is proposed using barrier Lyapunov functions for a class of second-order nonlinear systems which avoids the singularity problem of fixed traditional fixed time controllers. The proposed controller is, then employed to self-driving car application after its longitudinal dynamics’ transformation in standard normal form. The controller guarantees to attain the desired vehicle speed in fixed settling time. The MATLAB simulations are performed to illustrate the effectiveness of FSTSMC with longitudinal vehicle dynamics.