Evidence map›Paper›PMID 41023059›Full record

ArticleScientific reports2025

Design of a fractional-order sliding mode controller for lane- keeping in autonomous driving.

Weilin Wu, Shenghua Huang, Jincheng Qin, Haoran Yang, Caixu Xu

Abstract read
PubMed Full text at PMC Publisher
In one paragraph

Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.

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0cells of the map it votes in
1citing papers in PubMed
–field-weighted citation impact
1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

The trial behind it

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3 · Its place in the literature

Who cites it

1 citing paper in PubMed.

  1. Article
4 · The record

Corrections and comments

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5 · Who and what money

Authors and funding

5 authors.

Weilin WuThe Center for Applied Mathematics of Guangxi, School of Physics and Electronic Information, Guangxi Minzu University, Nanning, 530006, China.
Shenghua HuangThe Center for Applied Mathematics of Guangxi, School of Physics and Electronic Information, Guangxi Minzu University, Nanning, 530006, China.
Jincheng QinThe Center for Applied Mathematics of Guangxi, School of Physics and Electronic Information, Guangxi Minzu University, Nanning, 530006, China. jc_qin@gxmzu.edu.cn.
Haoran YangThe Center for Applied Mathematics of Guangxi, School of Physics and Electronic Information, Guangxi Minzu University, Nanning, 530006, China.
Caixu XuGuangxi Key Laboratory of Machine Vision and Intelligent Control, Wuzhou, 543002, China.

Funding

Guangxi Minzu University Xiangsi Lake Youth Scholar Innovation Team 2023GXUNXSHQN06Guangxi Science and Technology Base and Talent Project AD23026199Guangxi Science and Technology Major Project AD23023001Guangxi Zhuang Autonomous Region Youth Talent Project 301780227
6 · The paper itself

Abstract

An improved fractional-order integral sliding mode control (FOISMC) method is proposed in this study to address the performance degradation of lane-keeping control for intelligent vehicles under complex conditions. In this approach, a fractional-order integral sliding surface is constructed by introducing a composite tracking error e, and is combined with an improved fractional-order variable power reaching law to design a lane-keeping controller based on FOISMC. Subsequently, the Lyapunov stability theory is employed to analyze the system's stability, and a proof is provided to demonstrate that the system states can reach the fractional-order integral sliding surface in finite time. Finally, a co-simulation model was established using MATLAB/Simulink and CarSim to evaluate the proposed control strategy. The results demonstrate that, even under high-speed conditions with crosswind disturbances, the FOISMC outperforms both TISMC and FOPID. Specifically, the maximum lateral position error is reduced by 10.1% and 68.7%, respectively, while the root mean square error is decreased by 8% and 60.9%. These results confirm that the proposed approach not only achieves a significant improvement in control accuracy but also exhibits strong robustness.

Indexed as

Fractional-order integral sliding mode controlFractional-order reaching lawLane keepingPower reaching law

Identifiers

PMID41023059
PMCPMC12480621

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