Lateral Control Using a Homogenous Control Law for an Autonomous Vehicle

This paper concentrates on modeling and controlling a vehicle with a relative degree one using a homogenous control law with a controllable homogenous degree that’s satisfied with the stability theory. The first section presents the lateral dynamics using the bicycle model of the vehicle in the state space. Then in the second section, we propose a strategy, where we try to find the best performance and achieve stability in finite time with the best accuracy and low energy by defining a homogenous control law independent of the internal dynamics of the non-linear system based on the first-order linear state feedback (FOLSF) controller and first-order sliding mode control (FOSMC). And, based on the simulation shown in the last section of this paper of this methodology proposed, we demonstrate and improve our methodology's superiority over other approaches in the presence of perturbation, their good results, and efficiency in time tracking, stability, and, robustness.