Abstract When intelligent driving vehicles drive in unknown environments, they are susceptible to external disturbances, which can reduce trajectory tracking accuracy and driving stability. To address this issue, this paper proposes a fractional-order double-integral sliding mode control (FO-DISMC) strategy based on barrier function (BF) reaching law and nonlinear disturbance observer (NDOB). First, a nonlinear disturbance observer is used to estimate and compensate for lumped disturbances in real-time, enhancing the system's disturbance rejection capability. Next, a double-integral sliding surface combining fractional-order and integer-order integrals is designed to improve the system's flexibility and stability. To effectively suppress chattering caused by excessively large reaching law control gains, a barrier function is introduced to dynamically adjust the control gain, ensuring stable system operation. Finally, joint simulations using Carsim-Simulink are conducted to validate the superiority of the proposed control strategy in various lane change scenarios. Compared to traditional sliding mode control (TSMC) and super twisting sliding mode control (STSMC) methods, trajectory tracking accuracy is improved by 51.4% to 81.25%, demonstrating significant adaptability and superior control performance.
Pei et al. (Thu,) studied this question.