Sliding Mode Controller for Vehicle Steering Systems with Time-Delay Input

Vehicle steering control is a basic and vital component of automatic driving and assistance driving systems. In this paper, we model vehicle steering and reference path, and on the base of this, the sliding mode controller for vehicle steering system is investigated deeply. Firstly, a lateral mode by integrating of DGPS and INS via identifying approach is proposed for vehicle control system synthesis, then a model depicting the relationship between a vehicle and its reference path is also established, finally a time-delay based sliding mode controller is presented to control the lateral motion of the vehicle developed by AI&R of Xi´an Jiaotong University. Simulation results show that sliding mode controller with time delay can achieve satisfactory performance.