Switching Longitudinal and Lateral Semi-Decoupled Active Disturbance Rejection Control for Unmanned Ground Vehicles

In this paper, a switching longitudinal and lateral semi-decoupled active disturbance rejection control (ADRC) strategy is proposed for motion control of unmanned ground vehicles (UGVs). To characterize the coupling property between longitudinal and lateral dynamics, a switching longitudinal and lat...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2024-03, Vol.71 (3), p.1-10
Main Authors: Wang, Haoyu, Zuo, Zhiqiang, Xue, Wenchao, Wang, Yijing, Yang, Hongjiu
Format: Article
Language:English
Subjects:
Active control
Control systems
Dynamics
Force
Ground based control
Motion control
Motion stability
Rejection
Robust control
Semi-decoupled control
Stability analysis
Switches
Switching
switching model
Tires
two -stage ADRC
UGVs
Unmanned ground vehicles
Vehicle dynamics
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Summary:In this paper, a switching longitudinal and lateral semi-decoupled active disturbance rejection control (ADRC) strategy is proposed for motion control of unmanned ground vehicles (UGVs). To characterize the coupling property between longitudinal and lateral dynamics, a switching longitudinal and lateral semi-coupled model is first developed. By utilizing the switching method, a so-called "two-stage ADRC" strategy is presented. It has two forms before and after the transition instant such that the boundedness premise for the derivative of the total disturbance can be removed. With the designed two-stage ADRC, a longitudinal and lateral semi-decoupled controller is then suggested to solve the motion control problem of UGVs. Finally, both stability analysis and comparison results are given to demonstrate the effectiveness and robustness of the proposed control strategy.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2023.3265048