In this paper, a lateral controller with anti-peak composite nonlinear extended state observer (CNESO) and control output prediction technique is proposed for unmanned ground vehicle (UGV). Firstly, a lateral tracking model of UGV is developed which involves kinematic constraints and steering lag. Secondly, to improve disturbance observation accuracy and avoid peak phenomenon of the traditional ESO, an anti-peak CNESO is investigated. Thirdly, in terms of control output prediction technique, a lateral controller is designed for UGV. Finally, both theoretical convergence analysis and experimental results are given to show the effectiveness of the proposed control strategy.


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    Titel :

    Lateral Control for Unmanned Ground Vehicle with Anti-Peak Composite Nonlinear Extended State Observer


    Beteiligte:
    Wang, Haoyu (Autor:in) / Zuo, Zhiqiang (Autor:in) / Wang, Yijing (Autor:in)


    Erscheinungsdatum :

    29.10.2021


    Format / Umfang :

    1745831 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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