Application of an Integral-PID-Like-SMC (IPS) for Cruise Control

Abstract

This study presents the application of an enhanced Proportional–Integral–Derivative (PID)-like Sliding Mode Controller (SMC), referred to as the Integral PID-like Sliding Mode (IPS) controller, for cruise control systems. Robustness remains a critical requirement in cruise control applications, particularly with the increasing use of automation and intelligent vehicle systems. During operation, cruise controllers must compensate for various uncertainties and disturbances, including changes in fuel weight due to consumption, variations in passenger and luggage loads, aerodynamic effects, frictional changes caused by road conditions, and variations in road inclination. As autonomous vehicle technologies continue to advance, improved control strategies are required to ensure smoother and more reliable system performance. Several control approaches have been proposed for cruise control systems. Although nonlinear control methods provide strong robustness and high precision, their implementation often involves significant computational complexity. The proposed IPS approach addresses this limitation by combining the robustness of sliding mode control with a PID-like structure and an additional integral component. The performance of the IPS controller was evaluated and compared with conventional PID control and standard SMC under disturbance conditions. The IPS control law contains fewer components than the standard SMC while maintaining comparable or improved performance. Simulation results demonstrate that the IPS controller achieves enhanced precision and robustness with reduced computational complexity, making it suitable for real-time implementation.