Research Article
Super Twisting Sliding Mode Controller for Trajectory Tracking Control of Autonomous Ground Vehicle System
@INPROCEEDINGS{10.1007/978-3-031-28725-1_17, author={Tamiru Takele and Tefera Terefe and Sam Sun Ma}, title={Super Twisting Sliding Mode Controller for Trajectory Tracking Control of Autonomous Ground Vehicle System}, proceedings={Artificial Intelligence and Digitalization for Sustainable Development. 10th EAI International Conference, ICAST 2022, Bahir Dar, Ethiopia, November 4-6, 2022, Proceedings}, proceedings_a={ICAST}, year={2023}, month={3}, keywords={Autonomous Ground Vehicle Trajectory tracking Super Twisting Sliding Mode Controller Fractional order proportional integral derivative controller Optimization algorithms}, doi={10.1007/978-3-031-28725-1_17} }- Tamiru Takele
Tefera Terefe
Sam Sun Ma
Year: 2023
Super Twisting Sliding Mode Controller for Trajectory Tracking Control of Autonomous Ground Vehicle System
ICAST
Springer
DOI: 10.1007/978-3-031-28725-1_17
Abstract
Day to day increase in demand of safe and accident free ground vehicle, rapid growth and development of artificial intelligence algorithms and also rapid growth of microelectronics technology are major motives that are driving the development and increased attention of Autonomous Ground Vehicle (AGV) systems. Unstable and non-linear features of AGV need robust control techniques to control the trajectory tracking tasks of the system. Review of related works summery shows that sliding mode controller can handle non-linearity and relatively assure robustness of the system. However; ripple is one of the most common challenge in sliding mode controllers. In this research, Super Twisting Sliding Mode controller (STSMC) is designed to resolve the ripple in sliding mode controller for trajectory tracking control of AGV. Optimal parameters of STSMC controller are tuned using Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) technique. To compare the performance of the proposed algorithm, GA tuned Fractional-Order-PID (FOPID) controller is also designed and implemented. Accordingly, STSMC has less (≈0.0006 s) tracking error than FOPID controller. The result reveals the outperformance of the proposed algorithm over FOPID controller.
