Unmanned vehicle-side longitudinal coupling tracking control method based on rapid terminal sliding mode principle

The invention provides an unmanned vehicle-side longitudinal coupling tracking control method based on a rapid terminal sliding mode principle. The method comprises the following steps: 1) selecting an input parameter and an output parameter of an unmanned vehicle-side longitudinal coupling tracking controller; 2) defining a tracking control error and a state equation; 3) using the tracking control error as a state variable and establishing a rapid terminal sliding mode; 4) taking a rapid terminal tendency rate as a sliding mode tendency rate of the tracking control; 5) according to a vehicle dynamics model and the above content, deriving a coupling relation between an expected driving force or a braking force and an expected side force; 6) calculating an expected front-wheel turning angle; 7) according to positive or negative of obtained reverse longitudinal force model output, determining whether an expected throttle percentage or an expected braking torque should be calculated currently; 8) calculating the expected throttle percentage or the braking torque. From a simulation result, by using the method in the invention, error precision of position tracking control is increased and good error precision of speed tracking control is possessed.