Autonomous Vehicle Steering-based Feedback Linearization and Sliding Mode Control

Anssam Kames; Ali  Mary; Laith  Mayyahi; Oday  Al-Jerew

doi:10.22153/kej.2025.05.002

Authors

Anssam Yahya Kames Department of Mechatronics Engineering,Al-Khwarizmi College of Engineering,University of Baghdad, Baghdad, Iraq
Ali Hussien Mary Department of Mechatronics Engineering,Al-Khwarizmi College of Engineering,University of Baghdad, Baghdad, Iraq
Laith Awda Kadhim Mayyahi Carleton University, Faculty of Engineering and Design, Ottawa, Canada
Oday Al-Jerew Asia Pacific International College, Sydney, NSW 2150, Australia

DOI:

https://doi.org/10.22153/kej.2025.05.002

Keywords:

Feedback Linearization, Robust control , SMC.

Abstract

This study proposes a robust control approach for vehicular dynamic system speed control. The proposed method combines a sliding mode controller with a feedback linearization technique. Considering the high nonlinearity of the vehicle dynamic system model, feedback linearization is used to transform the vehicle dynamic system into a linear system. A Lyapunov theorem is used to approve the stability of the proposed controller. Moreover, a proportional integral derivative (PID) controller with genetic algorithms is used for comparison. The integral absolute error (IAE) is used as the performance comparison index between controllers. Simulation results show that the proposed method can achieve excellent performance with high robustness against external disturbance and system uncertainty. In the tracking case, the IAE value of the proposed controller is 2.3, whilst that of the PID is 15.2. Under external disturbance, the IAE values are 3.1 and 19.1 for the proposed controller and PID, respectively.

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