Design of a Continuous Sliding Mode Controller for Path Tracking of an Articulated Vehicle


This article presents design and evaluation of a sliding mode control scheme,being applied to the case of an articulated vehicle. The proposed Sliding Mode Controller(SMC) is based on a continuous sliding surface, being introduced for reducing thechattering phenomenon, while achieving a better tracking performance and a fastminimization of the corresponding tracking error. The derivation of the sliding modecontroller relies on the fully nonlinear kinematic model of the articulated vehicle, while theoverall stability of the control scheme is proven based on the Lyapunovs stability condition.The performance of the established control scheme is evaluated through circle pathtracking scenario on a small-scale articulated vehicle