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.
Lateral Control for Unmanned Ground Vehicle with Anti-Peak Composite Nonlinear Extended State Observer
2021-10-29
1745831 byte
Conference paper
Electronic Resource
English
Nonlinear observer design for lateral vehicle dynamics
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