Paper Info
Title
A Lateral Control Strategy For Unmanned Ground Vehicles With Model Predictive Control And Active Disturbance Rejection Control
Abstract
This paper presents a lateral control strategy with kinematic state error model-based predictive control and extended state observer for unmanned ground vehicles. Firstly, we propose a circular arc prediction technique to calculate the state of the reference system. Then, inspired by the idea of active disturbance rejection control, an extended state observer is utilized to estimate the value of the total disturbance caused by modeling uncertainties, external disturbance, and other factors in order to compensate model error. Finally, we propose a lateral controller that combines model-based prediction with extended state observer through state feedback to achieve precise trajectory tracking. The performance of the proposed control strategy is demonstrated by a co-simulation between CarSim and MATLAB/Simulink.
Year
DOI
Venue
2021
10.1177/01423312211025337
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
Keywords
DocType
Volume
Unmanned ground vehicle, model predictive control, active disturbance rejection control, extended state observer
Journal
43
Issue
ISSN
Citations 
15
0142-3312
0
PageRank 
References 
Authors
0.34
0
6
Name
Order
Citations
PageRank
Zhiqiang Zuo133436.94
Mengjia Yang200.34
Haoyu Wang300.68
Yijing Wang428926.87
Li Wang5113.06
Xiao-Yuan Luo627133.54