TITLE:
Research on Synovial Membrane Control Trajectory Tracking Based on Front-Wheel Steering
AUTHORS:
Liqiu Yuan
KEYWORDS:
Trajectory Tracking, Sliding Mode Control, Two-Degree-of-Freedom Vehicle Model
JOURNAL NAME:
Open Access Library Journal,
Vol.12 No.7,
July
2,
2025
ABSTRACT: In order to improve the practicability and control accuracy of the trajectory tracking control algorithm and solve the problem of insufficient tracking accuracy of the target path during vehicle driving, a trajectory tracking controller based on sliding film predictive control is designed. Firstly, a two-degree-of-freedom vehicle model was established, taking into account the vehicle’s steering characteristics; Then, a sliding mode controller was designed. By choosing the appropriate sliding mode surface and control law, the vehicle was able to track the desired trajectory quickly and accurately. Finally, through the joint simulation of MATLAB/Simulink and CarSim, the sliding mode control designed in this paper is compared with the classic PID control, and the trajectory tracking controller designed in this paper is analyzed. The results show that the trajectory tracking error of sliding mode control is small and it has a good effect on the control of vehicle body stability.