TY - GEN
T1 - Experimental Validation of Finite-Time Robust Control for Autonomous Vehicles using QCar
AU - Lahiouel, Younes
AU - Kali, Yassine
AU - Saad, Maarouf
AU - Bancel, Baptiste
AU - Ghommam, Jawhar
N1 - Publisher Copyright:
© 2026 IEEE.
PY - 2026
Y1 - 2026
N2 - The performance of autonomous vehicles in tasks where lateral maneuvers are required can be significantly compromised by uncertainties, parameter variations, and external disturbances. To address these challenges, this work proposes an adaptive super-Twisting controller aimed at improving path tracking performance under uncertain conditions. The proposed technique effectively reduces the chattering effect, ensures high tracking accuracy, and offers robustness against disturbances, while guaranteeing finite-Time convergence. To validate the effectiveness of the developed technique, initial simulations are conducted using a digital twin model, followed by experimental validation on a 1/10 scale QCar in a real-world driving scenario.
AB - The performance of autonomous vehicles in tasks where lateral maneuvers are required can be significantly compromised by uncertainties, parameter variations, and external disturbances. To address these challenges, this work proposes an adaptive super-Twisting controller aimed at improving path tracking performance under uncertain conditions. The proposed technique effectively reduces the chattering effect, ensures high tracking accuracy, and offers robustness against disturbances, while guaranteeing finite-Time convergence. To validate the effectiveness of the developed technique, initial simulations are conducted using a digital twin model, followed by experimental validation on a 1/10 scale QCar in a real-world driving scenario.
KW - Autonomous vehicle
KW - Finite-Time convergence
KW - QCar
KW - Super-Twisting
KW - Trajectory tracking
UR - https://www.scopus.com/pages/publications/105037335438
U2 - 10.1109/UVS66989.2026.11449918
DO - 10.1109/UVS66989.2026.11449918
M3 - Contribution to conference proceedings
AN - SCOPUS:105037335438
T3 - 3rd International Conference on Unmanned Vehicle Systems-Oman: Intelligent Systems for Industrial Challenges, UVS 2026
BT - 3rd International Conference on Unmanned Vehicle Systems-Oman
A2 - Al-Hashim, Aliya
A2 - Gomman, Jawher
A2 - Khriji, Lazhar
A2 - Waris, Muhammad Bilal
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Unmanned Vehicle Systems-Oman, UVS 2026
Y2 - 9 February 2026 through 11 February 2026
ER -