A study of unmanned vehicle trajectory tracking based on nonsingular terminal sliding mode

Addressing the challenge of unmanned vehicle trajectory tracking in complex, dynamic environments inherently requires robust path-tracking controllers. To accomplish this, we propose a non-singular terminal sliding mode control (NTSM) strategy specifically designed for vehicle trajectory tracking. This controller employs a fast convergence law to accurately follow reference trajectories through autonomous steering. The stability of this control system is rigorously proven utilizing the Lyapunov stability criterion. To validate its performance, simulations are conducted under various operating conditions using the Matlab-Carsim co-simulation platform. The results consistently demonstrate that, in comparison to model predictive control (MPC) and traditional sliding mode control (SMC), the NTSM strategy significantly enhances control accuracy and robustness.