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

Xia, Yuanqing; Pu, Fan; Li, Shengfei; Gao, Yuan

doi:10.1109/tie.2016.2531021

Cited by 222 publications

(99 citation statements)

References 26 publications

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“…By using the observer properly, the disturbance rejection performance of the control system can be significantly improved. In particular, the ESO, known as the key module of active disturbance rejection control, is used to estimate system states and total disturbance with less dependence on model information [23,24]. e total disturbance mainly includes model uncertainty and external disturbance.…”

Section: Introductionmentioning

confidence: 99%

Design of Flight Control System for a Novel Tilt-Rotor UAV

Chen

Jia

2020

Complexity

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is paper presents the control system design process of a novel tilt-rotor unmanned aerial vehicle (TRUAV). First, a new configuration scheme with the tilting rotors is designed. en, the detailed nonlinear mathematical model is established, and the parameters are acquired from designed experiments and numerical analyses. For control design purposes, the dynamics equation is linearized around the hovering equilibrium point, and a control allocation method based on trim calculation is developed. To deal with the actuator saturation and uncertain disturbance problems for the novel TRUAV, an improved flight control law based on the combination of the robust servo linear quadratic regulator (RSLQR) optimal control and the extended state observer (ESO) is proposed. e designed flight control law has a simple structure with a high reliability in engineering. Simulations and hovering flight tests are carried out to verify the effectiveness of the mathematical model and the proposed control strategy.

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Section: Introductionmentioning

confidence: 99%

Design of Flight Control System for a Novel Tilt-Rotor UAV

Chen

Jia

2020

Complexity

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“…In the first part, DUE is designed to estimate the disturbances so that they could be compensated in the feedforward loop. To achieve this aim, a series of observers have been proposed as the DUE so far, such as disturbance observer (DO) [19,20], extended state observer (ESO) [21][22][23][24], proportional integral observer (PIO) [25,26] and acceleration based disturbance observer (ABDOB) [27], etc. By the appropriate use of the observer, disturbance rejection performance and robustness of the existing control system could be significantly improved.…”

Section: Introductionmentioning

confidence: 99%

Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

Shi

Chou

2018

Electronics

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This article addresses the problem of high precision attitude control for quadrotor unmanned aerial vehicle in presence of wind gust and actuator faults. We consider the effect of those factors as lumped disturbances, and in order to realize the quickly and accurately estimation of the disturbances, we propose a control strategy based on the online disturbance uncertainty estimation and attenuation method. Firstly, an enhanced extended state observer (ESO) is constructed based on the super-twisting (ST) algorithm to estimate and attenuate the impact of wind gust and actuator faults in finite time. And the convergence analysis and parameter selection rule of STESO are given following. Secondly, in order to guarantee the asymptotic convergence of desired attitude timely, a sliding mode control law is derived based on the super-twisting algorithm. And a comprehensive stability analysis for the entire system is presented based on the Lyapunov stability theory. Finally, to demonstrate the efficiency of the proposed solution, numerical simulations and real time experiments are carried out in presences of wind disturbance and actuator faults.

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“…Pourtant, très peu de papiers analysent l'influence de la vitesse sur le guidage latéral. Dans [Xia et al, 2016] et [Hu et al, 2016] la vitesse longitudinale est utilisée pour le calcul des régulateurs ADRC (Active Disturbance Rejection Control) et H ∞ respéctivement mais aucune analyse préalable sur l'influence de la vitesse sur le procédé n'est effectuée.…”

Section: Introductionunclassified

Etude comparative de structures de régulation pour le guidage latéral d’un véhicule autonome

Monot¹,

Moreau²,

Benine-Neto³

et al. 2018

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La vitesse longitudinale a un impact important sur la dynamique latérale du véhicule et peut donc rendre problématique le suivi de trajectoire. L'objectif de ce papier est de présenter différentes stuctures de régulation pour le guidage latéral d'un véhicule autonome. Ces structures sont : un PID simple, une boucle imbriquée avec un PI et un PID, un multi régulateur pondéré à base de PID. Ils sont comparés avec des simulations de changement de voie à vitesse constante pour différentes vitesses. Le papier met en évidence le fait qu'un PID seul n'est pas capable de garantir la stabilité du système dans tous les cas et que le multi PID permet le meilleur suivi de trajectoire. ABSTRACT. The lateral dynamics of the vehicle is strongly impacted by the longitudinal speed bringing problems to trajectory tracking. In this paper, several control structures based on PID are compared for the lateral guidance of autonomous vehicle. It includes a classic PID, a nested loop and a multi-PID controller. A comparison is made through an overtaking simulation for different speeds. The paper highlights that a PID alone cannot guarantee the stability of the closed loop in every situation and that among the three structures, the multi-PID controller allows the best tracking. MOTS-CLÉS. Véhicule autonome, suivi de trajectoire, contrôle commande, PID.

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

Cited by 222 publications

References 26 publications

Design of Flight Control System for a Novel Tilt-Rotor UAV

Design of Flight Control System for a Novel Tilt-Rotor UAV

Super-Twisting Extended State Observer and Sliding Mode Controller for Quadrotor UAV Attitude System in Presence of Wind Gust and Actuator Faults

Etude comparative de structures de régulation pour le guidage latéral d’un véhicule autonome

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