HFO-LADRC Lateral Motion Controller for Autonomous Road Sweeper

Abstract

How to make a controller robust and stable to reject the disturbance of uncertainty is an inevitable challenge. Aiming at addressing the lateral control problem for an autonomous road sweeper, a heading-error-based first order linear active disturbance rejective controller (HFO-LADRC) is proposed in this paper. To eliminate the lateral error and the heading error at the same time, a new model, called the heading-error-based model, is proposed for lateral motion, and the Lyapunov function was employed to explore the convergence ability of the heading error and lateral error. Since the heading-error-based model is first order, the ADRC is designed as first order and linear, and each module of the HFO-LADRC has been devised in detail. To ensure solution accuracy, the fourth order Runge–Kutta method was adopted as the differential system solver, and a typical ring scenario and a double lane-changing scenario were designed referencing the standard. Considering the obvious influence, wheelbase uncertainty, steering ratio uncertainty and Gaussian white noise disturbance were taken into account for the tests. The results illustrate that, in the case of both wheelbase uncertainty and steer ratio uncertainty, the HFO-LADRC has strong robustness and stability compared with a typical pure pursuit controller and classical SO-LADRC.

Rollover Prevention Control for Autonomous Electric Road Sweeper

“…To cope with this problem, the diesel engine in road sweepers was replaced with an electric motor and a battery. The second is autonomous driving, which we developed in order to maximize utilization in dedicated areas such as airports or public parks without a human driver [8][9][10]. For example, most passenger vehicles are utilized within 20% of their total lifecycle.…”

“…These functions include localization, path generation and tracking control, speed control, obstacle detection and avoidance, and autonomous parking [20,21]. In view of control, path tracking and speed controls are the most important aspects [8]. Path tracking control means that the driver model, which generates the steering angle command, needs to follow a given path [9,10,[21][22][23].…”

“…Path tracking control means that the driver model, which generates the steering angle command, needs to follow a given path [9,10,[21][22][23]. The speed control ensures that the vehicle follows a given speed profile by means of engine throttle or motor torque commands [8,9]. The pure pursuit method is implemented as the patch tracking controller in AERS, as shown in Figure 1.…”

“…The first is low speed. The maximum and operational speeds of this vehicle are 20 km/h and 5 km/h, respectively [8]. As such, there have been few issues in terms of lateral stability or yaw moment control, which are needed to stabilize the snaking phenomenon that is inherent in vehicles with AFS [16].…”

Improved Active Disturbance Rejection Control for Trajectory Tracking Control of Lower Limb Robotic Rehabilitation Exoskeleton

“…The ADRC controller was firstly proposed by Han [ 16 ] and had many advantages. The evolution and rapid use of ADRC in industries in the last three decades prove its popularity in motion control [ 17 , 18 , 19 , 20 ], flight control [ 21 , 22 ], and process control [ 23 , 24 , 25 , 26 , 27 , 28 , 29 , 30 , 31 , 32 ] applications and in many fields [ 33 ]. The architecture of ADRC is designed to achieve the best performance by actively eliminating the internal and outside uncertainties as a entire disturbance [ 34 ].…”