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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    Title :

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


    Contributors:
    Wang, Haoyu (author) / Zuo, Zhiqiang (author) / Wang, Yijing (author)


    Publication date :

    2021-10-29


    Size :

    1745831 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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