Fixed-Time Based Optimal FTSMC for Longitudinal Control of an Autonomous Vehicle Using Arduino

Effective control of vehicle longitudinal dynamics is essential for enhancing stability and performance. This study introduces a Fixed-Time Based Optimal Fast Terminal Sliding Mode Control (OFTSMC) designed to provide robust and fast convergence. The controller parameters are optimized through the application of Particle Swarm Optimization (PSO). The fixed-time convergence is ensured by applying the Lyapunov approach to analyze system stability. The initial step consists of developing the mathematical model representing the vehicle’s longitudinal dynamics. The proposed method is then implemented and validated through both simulations in MATLAB/Simulink and real-world testing on a Four-Wheel Drive (4WD) vehicle using an Arduino Uno. The experimental and simulation results confirm the controller’s ability to provide precise and accurate performance, demonstrating its suitability for practical applications in vehicle dynamics control.