Intelligent vehicle trajectory tracking control based on finite-time integral sliding-mode control with disturbance observer

This work addresses the impact of unknown external environmental disturbances and internal model parameter uncertainties on the trajectory tracking accuracy of the intelligent vehicle, proposing a finite-time integral sliding-mode control (FTISMC) law integrated with a disturbance observer (DO). First, unknown external environmental disturbances and internal vehicle model parameter uncertainties are collectively treated as a united disturbance. Then, a DO is designed to estimate this unknown united disturbance. Based on this estimation, the FTISMC law is developed using the theory of finite-time stability. Simulation results demonstrate that, compared with traditional sliding-mode control, the proposed method exhibits superior stability and effectiveness in enhancing trajectory tracking performance and suppressing united disturbance across multiple trajectory segments.