Lateral Path Tracking Control of Autonomous Land Vehicle Based on ADRC and Differential Flatness

This paper presents a tracking control method for the lateral motion of an autonomous land vehicle (ALV). This method is based on active disturbance rejection control (ADRC) scheme and differential flatness theory. The lateral motion is hard to control since it is underactuated, nonlinear, and with...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2016-05, Vol.63 (5), p.3091-3099
Main Authors: Xia, Yuanqing, Pu, Fan, Li, Shengfei, Gao, Yuan
Format: Article
Language:English
Subjects:
Active control
active disturbance rejection control
Autonomous
Computer simulation
Derivatives
differential flatness
Dynamics
Flatness
Flats
Land
Land vehicles
Lateral path tracking
Robustness
Tires
Uncertainty
underactuated
Vehicle dynamics
Vehicles
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Summary:This paper presents a tracking control method for the lateral motion of an autonomous land vehicle (ALV). This method is based on active disturbance rejection control (ADRC) scheme and differential flatness theory. The lateral motion is hard to control since it is underactuated, nonlinear, and with large uncertainties. By making a small-angle approximation, the dynamic model is linearized. The flatness of the linear model is proved and a flat output is found. An equivalent form of the model is obtained based on the flat output and its derivatives only. Moreover, an ADRC is adopted to guarantee both control accuracy and strong robustness. Simulation results are presented and the results show the effectiveness of the control strategies.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2016.2531021