Vehicle Lane Keeping System Design by Using Fast Terminal Sliding Mode control

This article presents a new method to improve the lanetracking performance and to create automatically lanekeeping system for Active Front Steering (AFS)vehicles. To achieve full tracking and stabilize thelateral position of the vehicle, a new approach based onthe Fast Terminal Sliding Mode Control (FTSMC) isutilized which is responsible for reducing the rate ofconvergence and getting finite-time tracking control.Moreover, it is shown that the proposed controller isrobust against vehicle mass uncertainties and externaldisturbances. The results gotten from co-simulation ofADAMS CAR and MATLAB show the controllerefficiency to track the desired patch and to guarantee theyaw stability under uncertain conditions.

کلیدواژه ها:

Lane keeping system ، Fast terminal slidingmode control