Terminal sliding-mode controllers with fixed-time stability and its applications to lateral control of an autonomous vehicle

Abstract

The stabilization of first and second-order systems in the presence of disturbances has been investigated in this paper. A novel sliding variable is designed utilizing the Gauss error and arctangent functions. This results in a new control rule characterized by its robustness and ease of fixed-time stability implementation. Subsequently, sliding-mode control is applied to achieve the global robust finite-time stabilization of a class of uncertain nonlinear second-order systems. In the simulation, every result is presented. The proposed controller is employed for lateral control of autonomous vehicles. The effectiveness of the suggested method for controlling an autonomous vehicle while considering disturbances is evaluated through nonlinear simulation.