Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles

Qidong RAN; Zheng ZHOU; YueQiang WANG; Yujuan WANG; Yongduan SONG

doi:10.1109/ICAISISAS68969.2026.11567765

Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles

Qidong RAN
, Zheng ZHOU
, YueQiang WANG
, Yujuan WANG
, Yongduan SONG^*

^*Corresponding author for this work

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Referred Conference Paper › peer-review

Abstract

This paper proposes a fixed-time path-following control framework for autonomous ground vehicles that simultaneously enforces prescribed transient performance constraints. A novel global control protocol is constructed to confine the nonsingular sliding manifold within a predefined bounded region and to drive the tracking error into a specified residual set within a fixed time, independent of the initial system conditions. The e cacy of the proposed scheme is validated through extensive CarSim-Simulink co-simulations across multiple driving maneuvers.

Original language	English
Title of host publication	2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS): Proceedings
Publisher	IEEE
Number of pages	8
ISBN (Electronic)	9798319531193
DOIs	https://doi.org/10.1109/ICAISISAS68969.2026.11567765
Publication status	Published - May 2026
Externally published	Yes
Event	2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS) - Xuzhou, China Duration: 8 May 2026 → 10 May 2026

Publication series

Name	International Symposium on Autonomous Systems Proceedings
Publisher	IEEE
Volume	2996-3842
ISSN (Electronic)	2996-3850

Conference

Conference	2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS)
Abbreviated title	ICAIS & ISAS 2026
Country/Territory	China
City	Xuzhou
Period	8/05/26 → 10/05/26

Funding

This work was supported in part by the National Key Research and Development Program of China under Grant 2023YFA1011803, in part by the National Natural Science Foundation of China under Grant 62273064, and in part by the Natural Science Foundation of Chongqing under grant No.CSTB2023NSCQ-LZX0026.

Keywords

Fixed-time control
path-following
prescribed performance
sliding mode method

Access to Document

10.1109/ICAISISAS68969.2026.11567765

Cite this

RAN, Q., ZHOU, Z., WANG, Y., WANG, Y., & SONG, Y. (2026). Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles. In 2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS): Proceedings (International Symposium on Autonomous Systems Proceedings; Vol. 2996-3842). IEEE. https://doi.org/10.1109/ICAISISAS68969.2026.11567765

@inproceedings{12dad5fa57524e15b3e534d8db7fe0eb,

title = "Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles",

abstract = "This paper proposes a fixed-time path-following control framework for autonomous ground vehicles that simultaneously enforces prescribed transient performance constraints. A novel global control protocol is constructed to confine the nonsingular sliding manifold within a predefined bounded region and to drive the tracking error into a specified residual set within a fixed time, independent of the initial system conditions. The e cacy of the proposed scheme is validated through extensive CarSim-Simulink co-simulations across multiple driving maneuvers.",

keywords = "Fixed-time control, path-following, prescribed performance, sliding mode method",

author = "Qidong RAN and Zheng ZHOU and YueQiang WANG and Yujuan WANG and Yongduan SONG",

year = "2026",

month = may,

doi = "10.1109/ICAISISAS68969.2026.11567765",

language = "English",

series = "International Symposium on Autonomous Systems Proceedings",

publisher = "IEEE",

booktitle = "2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) \& International Symposium on Autonomous Systems (ISAS): Proceedings",

note = "2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) \& International Symposium on Autonomous Systems (ISAS), ICAIS \& ISAS 2026 ; Conference date: 08-05-2026 Through 10-05-2026",

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RAN, Q, ZHOU, Z, WANG, Y, WANG, Y & SONG, Y 2026, Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles. in 2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS): Proceedings. International Symposium on Autonomous Systems Proceedings, vol. 2996-3842, IEEE, 2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS), Xuzhou, China, 8/05/26. https://doi.org/10.1109/ICAISISAS68969.2026.11567765

Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles. / RAN, Qidong; ZHOU, Zheng; WANG, YueQiang et al.
2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS): Proceedings. IEEE, 2026. (International Symposium on Autonomous Systems Proceedings; Vol. 2996-3842).

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Referred Conference Paper › peer-review

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T1 - Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles

AU - RAN, Qidong

AU - ZHOU, Zheng

AU - WANG, YueQiang

AU - WANG, Yujuan

AU - SONG, Yongduan

PY - 2026/5

Y1 - 2026/5

N2 - This paper proposes a fixed-time path-following control framework for autonomous ground vehicles that simultaneously enforces prescribed transient performance constraints. A novel global control protocol is constructed to confine the nonsingular sliding manifold within a predefined bounded region and to drive the tracking error into a specified residual set within a fixed time, independent of the initial system conditions. The e cacy of the proposed scheme is validated through extensive CarSim-Simulink co-simulations across multiple driving maneuvers.

AB - This paper proposes a fixed-time path-following control framework for autonomous ground vehicles that simultaneously enforces prescribed transient performance constraints. A novel global control protocol is constructed to confine the nonsingular sliding manifold within a predefined bounded region and to drive the tracking error into a specified residual set within a fixed time, independent of the initial system conditions. The e cacy of the proposed scheme is validated through extensive CarSim-Simulink co-simulations across multiple driving maneuvers.

KW - Fixed-time control

KW - path-following

KW - prescribed performance

KW - sliding mode method

U2 - 10.1109/ICAISISAS68969.2026.11567765

DO - 10.1109/ICAISISAS68969.2026.11567765

M3 - Conference paper (refereed)

T3 - International Symposium on Autonomous Systems Proceedings

BT - 2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS): Proceedings

PB - IEEE

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Y2 - 8 May 2026 through 10 May 2026

ER -

RAN Q, ZHOU Z, WANG Y, WANG Y, SONG Y. Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles. In 2026 Joint International Conference on Automation-Intelligence-Safety (ICAIS) & International Symposium on Autonomous Systems (ISAS): Proceedings. IEEE. 2026. (International Symposium on Autonomous Systems Proceedings). doi: 10.1109/ICAISISAS68969.2026.11567765

Performance-Constrained Fixed-Time Path-Following Control for Autonomous Vehicles

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