Neural network optimization algorithm based non-singular fast terminal sliding-mode control for an uncertain autonomous ground vehicle subjected to disturbances
Lhoussain El Hajjami, El Mehdi Mellouli, Vidas Žuraulis, Mohammed Berrada, Ismail Boumhidi
Abstract
As computer computing capabilities increase, optimization algorithms are becoming more useful for solving engineering problems. Up to now, several metaheuristic algorithms have been exploited in control engineering. However, this effort remains weak in addressing the autonomous ground vehicles (AGVs) trajectory tracking problem. This research presents a novel optimal approach merging the robust non-singular fast terminal sliding-mode control method (NFTSMC) and the neural network optimization algorithm (NNA) for automatic lane changing. First, a reference double lane-change path (DLC) is designed, and the robust non-singular fast terminal sliding-mode steering controller is developed, according to Lyapunov stability theory, to suppress the lateral deviation and ensure the yaw stability. Then, the control strategy is optimized by the NNA algorithm to adjust the steering controller optimally while avoiding local optimums. A comparison, under the same conditions, with the particle swarm optimization algorithm (PSO) revealed the superiority of the control law resulting from the NNA-based optimization. Furthermore, the proposed approach shows its excellent tracking performance versus the integrated backstepping sliding-mode controller (IBSMC) and the adaptive sliding-mode control (ASMC) under severe conditions typical of real-world lane changes.