LPV-Based Sliding Mode Control with Varying Longitudinal Velocity

This paper presents a simulation study of a sliding mode control (SMC) scheme for a vehicle lateral dynamics system under longitudinal velocity variations, modeled as a Linear Parameter-Varying (LPV) system. The longitudinal velocity, V<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">x</inf>, varies in three distinct functions: constant, sinusoidal, and ramp-up. The proposed control strategy ensures robustness and adaptability to dynamic changes in V<inf xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">x</inf>, demonstrating its effectiveness in uncertain environments with varying vehicle behaviors. Performance metrics, including lateral error, control effort, settling time, and energy consumption, are analyzed. Comparative insights highlight the benefits of the LPV-based SMC design in handling disturbances and parameter uncertainties.