A lateral control strategy for unmanned ground vehicles with model predictive control and active disturbance rejection control

Zuo, Zhiqiang; Yang, Mengjia; Wang, Haoyu; Wang, Yijing; Wang, Li; Luo, Xiaoyuan

doi:10.1177/01423312211025337

Cited by 5 publications

(2 citation statements)

References 36 publications

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“…In order to deal with this problem, the extended state observer (ESO) can be used to estimate and compensate the high order approximation error terms in the FO Han (2009). Gao (2003) proposed a linear ESO based Active Disturbance Rejection Control (ADRC) tuning method to substantially simplify the original nonlinear controller in Han (2009) for practitioners, then this philosophy tremendously promotes the widespread application of ADRC Madonski et al (2019); Li et al (2020); Long et al (2017); Qiu et al (2014); Sun et al (2020); Piao et al (2020); Huang and Xue (2014); Zuo et al (2021). The linear ADRC is a linear control but its design concept is totally different from that of classical linear controllers and it can be applied to nonlinear, time-varying, and uncertain processes with very little model information.…”

Section: Introductionmentioning

confidence: 99%

Efficient Trajectory Planning and Tracking Control for Underactuated Crane

Long,

Sun,

Chen

2023

CEAI

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The crane is a typical underactuated plant, which makes the trajectory planning and control to be challenging. To solve this problem, efficient trajectory planning and tracking control methods should be sought. The plant can be reduced in dimension by using reasonable linearization and the differential flatness (DF) method, wherein the state and control variables are represented directly through the flat output (FO). Combined with the pseudospectral method (PSM) wherein multiple constraints are taken into account, the FO reference can be parameterized by using a polynomial. By doing so, it can reduce the degree of freedom to be optimized. To eliminate the adverse effects from the high-order terms ignored in the linearization, the extended state observer is used for deviation estimation and compensation. The closedloop stability can be ensured by using the Lyapunov method. Both numerical simulations and hardware experiments are performed to demonstrate the feasibility and efficiency of the proposed method.

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Section: Introductionmentioning

confidence: 99%

Efficient Trajectory Planning and Tracking Control for Underactuated Crane

Long,

Sun,

Chen

2023

CEAI

View full text Add to dashboard Cite

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“…However, the previously mentioned state observers are usually model-based, that is, accurate model information is essential during their design process, so they are not suitable for systems with uncertain dynamics. Thanks to the Han's works, the extended state observer (ESO) is proposed, which is model-independent and can achieve the simultaneous estimation of unmeasured system states and multiple uncertainties (Huang et al, 2021;Yang et al, 2021aYang et al, , 2021bZuo et al, 2021). However, a crucial issue will be encountered in the foregoing ESO-based control methods, that is, when faced with unmodeled dynamics and unknown disturbances, the transient and steady-state behavior of the system cannot be prespecified in advance without recourse to regulating the controller parameters repeatedly.…”

Section: Introductionmentioning

confidence: 99%

Low-complexity observer–based output-feedback tracking control for a class of nonlinear lower-triangular systems

Luo

Wei

et al. 2022

Transactions of the Institute of Measurement and Control

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The tracking control problem for a group of nonlinear lower-triangular systems with multiple uncertainties is investigated in this work. Wherein, a novel performance constraint is first constructed to guarantee the fixed-time convergence of the output tracking error. Subsequently, a linear extended high-gain observer is employed to estimate the system uncertainties including the unmeasured states and the external disturbances. Based on the observer estimations, a novel output-feedback tracking control approach is formulated via using the backstepping technique, to ensure the boundedness of the closed-loop system. Compared with the existing works, the primary advantages of the proposed design are that (1) the problem of "explosion of terms" is avoided by eliminating the need for the derivative of the virtual control signals and (2) without the use of extra auxiliary techniques, the fixed-time convergence can be guaranteed, where the convergence time is independent of the system states and initial conditions. Then, the results about system stability are proved by the theoretical analysis. Moreover, an extension of the proposed approach to multi-input multi-output systems is deduced in this paper to further present its versatility. Finally, two groups of numerical examples are performed to validate the effectiveness of the proposed controller.

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An exhaustive investigation into power performance of an unmanned robotized vehicle for industrial transportations

Shafaei,

Mousazadeh

2023

Measurement

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A lateral control strategy for unmanned ground vehicles with model predictive control and active disturbance rejection control

Cited by 5 publications

References 36 publications

Efficient Trajectory Planning and Tracking Control for Underactuated Crane

Efficient Trajectory Planning and Tracking Control for Underactuated Crane

Low-complexity observer–based output-feedback tracking control for a class of nonlinear lower-triangular systems

An exhaustive investigation into power performance of an unmanned robotized vehicle for industrial transportations

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