Dynamic modeling and optimized trajectory tracking control of an autonomous tracked vehicle via backstepping and sliding mode control

Abstract

This article presents a complete kinematic and dynamic modeling and trajectory tracking control of an autonomous tracked vehicle. First, based on the vehicle’s kinematics, the reference linear and angular velocities are evaluated. The kinematic controller is proposed as an integrated backstepping controller. Then, based on vehicle dynamics and slipping characteristics, an integral sliding mode control is utilized to get the desired vehicle drive torques and converge its trajectory to the desired one. Whereas the controller gains are optimally calculated. Furthermore, based on the Lyapunov stability, the proof of stability for proposed controllers is presented. Finally, simulation results are conducted to validate the effectiveness of the proposed control algorithm compared with a hybrid backstepping-modified proportional–integral–derivative dynamic controller and a nonlinear feedback acceleration controller.