Journal
IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
Volume 68, Issue 7, Pages 6379-6390Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TVT.2019.2916982
Keywords
Autonomous ground vehicle; path following; active disturbance rejection control; extended state observer; non-singular terminal sliding mode
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Funding
- National Key Research and Development Program of China [2018YFB0105203]
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Due to the strong nonlinearity, coupling characteristics, external disturbance, and complex driving conditions, it is difficult to establish an accurate mathematical model for the autonomous ground vehicle (AGV). This requires the AGV path following controller to have strong robustness. In this paper, a robust AGV path following control strategy that is based on nonsingular terminal sliding mode (NTSM) and active disturbance rejection control (ADRC) is presented. First, the complex path following problem is simplified to a simple yaw angle tracking problem by constructing a desired yaw angle function that satisfies that the displacement deviation of AGV converges to zero when the actual yaw angle approaches the desired yaw angle. Second, an NTSM-ADRC controller is designed for the system, which uses the extended state observer to estimate and compensate the unmodeled dynamics and unknown external perturbations of the system in real time. In order to improve response characteristics of the controller, the nonlinear error feedback control law is designed by combining theNTSMand exponential approximation law. In contrast to the existingwork, the improved controller can use the simple two-degree-of-freedom linear vehicle dynamicmodel to provide good performance in a range of driving conditions. Finally, the CarSim-Simulink simulation results of typical conditions show that the proposed control strategy canmake theAGVfollowthe reference path quickly and accurately while ensuring the stability of the vehicle and has strong robustness.
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