Fixed Settling Time Longitudinal Control of Self-Driving Car

Rameez Khan; Naveed Mazhar; Abid Raza; Anjum Saeed; Fahad Mumtaz Malik; Raja Amer Azim

doi:10.1109/ICAAID51067.2022.9799514

Fixed Settling Time Longitudinal Control of Self-Driving Car

Rameez Khan
, Naveed Mazhar
, Abid Raza
, Anjum Saeed
, Fahad Mumtaz Malik
, Raja Amer Azim

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This article presents the robust control framework for the longitudinal motion of the self-driving car in an uncertain environment. As a theoretical contribution, a fixed settling time sliding mode controller (FSTSMC) is proposed using barrier Lyapunov functions for a class of second-order nonlinear systems which avoids the singularity problem of fixed traditional fixed time controllers. The proposed controller is, then employed to self-driving car application after its longitudinal dynamics' transformation in standard normal form. The controller guarantees to attain the desired vehicle speed in fixed settling time. The MATLAB simulations are performed to illustrate the effectiveness of FSTSMC with longitudinal vehicle dynamics.

Original language	English
Title of host publication	Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728189390
DOIs	https://doi.org/10.1109/ICAAID51067.2022.9799514
State	Published - 2022
Externally published	Yes
Event	4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022 - Hail, Saudi Arabia Duration: 29 Mar 2022 → 31 Mar 2022

Publication series

Name	Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022

Conference

Conference	4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022
Country/Territory	Saudi Arabia
City	Hail
Period	29/03/22 → 31/03/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

Keywords

Barrier Lyapunov function
Fixed settling time
Longitudinal dynamics
Self-driving car
Sliding mode control

ASJC Scopus subject areas

Artificial Intelligence
Computer Science Applications
Industrial and Manufacturing Engineering
Safety, Risk, Reliability and Quality
Control and Optimization

Access to Document

10.1109/ICAAID51067.2022.9799514

Cite this

Khan, R., Mazhar, N., Raza, A., Saeed, A., Malik, F. M., & Amer Azim, R. (2022). Fixed Settling Time Longitudinal Control of Self-Driving Car. In Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022 (Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICAAID51067.2022.9799514

Khan, Rameez ; Mazhar, Naveed ; Raza, Abid et al. / Fixed Settling Time Longitudinal Control of Self-Driving Car. Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022).

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title = "Fixed Settling Time Longitudinal Control of Self-Driving Car",

abstract = "This article presents the robust control framework for the longitudinal motion of the self-driving car in an uncertain environment. As a theoretical contribution, a fixed settling time sliding mode controller (FSTSMC) is proposed using barrier Lyapunov functions for a class of second-order nonlinear systems which avoids the singularity problem of fixed traditional fixed time controllers. The proposed controller is, then employed to self-driving car application after its longitudinal dynamics' transformation in standard normal form. The controller guarantees to attain the desired vehicle speed in fixed settling time. The MATLAB simulations are performed to illustrate the effectiveness of FSTSMC with longitudinal vehicle dynamics.",

keywords = "Barrier Lyapunov function, Fixed settling time, Longitudinal dynamics, Self-driving car, Sliding mode control",

author = "Rameez Khan and Naveed Mazhar and Abid Raza and Anjum Saeed and Malik, \{Fahad Mumtaz\} and \{Amer Azim\}, Raja",

note = "Publisher Copyright: {\textcopyright} 2022 IEEE.; 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022 ; Conference date: 29-03-2022 Through 31-03-2022",

year = "2022",

doi = "10.1109/ICAAID51067.2022.9799514",

language = "English",

series = "Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022",

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Khan, R, Mazhar, N, Raza, A, Saeed, A, Malik, FM & Amer Azim, R 2022, Fixed Settling Time Longitudinal Control of Self-Driving Car. in Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022. Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022, Institute of Electrical and Electronics Engineers Inc., 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022, Hail, Saudi Arabia, 29/03/22. https://doi.org/10.1109/ICAAID51067.2022.9799514

Fixed Settling Time Longitudinal Control of Self-Driving Car. / Khan, Rameez; Mazhar, Naveed; Raza, Abid et al.
Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022. Institute of Electrical and Electronics Engineers Inc., 2022. (Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Fixed Settling Time Longitudinal Control of Self-Driving Car

AU - Khan, Rameez

AU - Mazhar, Naveed

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AU - Saeed, Anjum

AU - Malik, Fahad Mumtaz

AU - Amer Azim, Raja

PY - 2022

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N2 - This article presents the robust control framework for the longitudinal motion of the self-driving car in an uncertain environment. As a theoretical contribution, a fixed settling time sliding mode controller (FSTSMC) is proposed using barrier Lyapunov functions for a class of second-order nonlinear systems which avoids the singularity problem of fixed traditional fixed time controllers. The proposed controller is, then employed to self-driving car application after its longitudinal dynamics' transformation in standard normal form. The controller guarantees to attain the desired vehicle speed in fixed settling time. The MATLAB simulations are performed to illustrate the effectiveness of FSTSMC with longitudinal vehicle dynamics.

AB - This article presents the robust control framework for the longitudinal motion of the self-driving car in an uncertain environment. As a theoretical contribution, a fixed settling time sliding mode controller (FSTSMC) is proposed using barrier Lyapunov functions for a class of second-order nonlinear systems which avoids the singularity problem of fixed traditional fixed time controllers. The proposed controller is, then employed to self-driving car application after its longitudinal dynamics' transformation in standard normal form. The controller guarantees to attain the desired vehicle speed in fixed settling time. The MATLAB simulations are performed to illustrate the effectiveness of FSTSMC with longitudinal vehicle dynamics.

KW - Barrier Lyapunov function

KW - Fixed settling time

KW - Longitudinal dynamics

KW - Self-driving car

KW - Sliding mode control

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M3 - Conference contribution

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BT - Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022

PB - Institute of Electrical and Electronics Engineers Inc.

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Khan R, Mazhar N, Raza A, Saeed A, Malik FM, Amer Azim R. Fixed Settling Time Longitudinal Control of Self-Driving Car. In Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022. Institute of Electrical and Electronics Engineers Inc. 2022. (Proceedings - 2022 4th International Conference on Applied Automation and Industrial Diagnostics, ICAAID 2022). doi: 10.1109/ICAAID51067.2022.9799514

Fixed Settling Time Longitudinal Control of Self-Driving Car

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this