Study on ADRC-Based Intelligent Vehicle Lateral Locomotion Control

被引：3

作者：

Ruan, Jiuhong ^{[1
,2
]}

Yang, Fuguang ^{[1
,2
]}

Song, Rui ^{[2
]}

Li, Yibin ^{[2
]}

机构：

[1] Shanghai Jiao Tong Univ, Adv Vehicle & Robot Inst, Jinan 250023, Peoples R China

[2] Shandong Univ, Ctr Robot Res, Jinan 250061, Peoples R China

来源：

2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年

关键词：

intelligent vehicle; lateral locomotion; nonlinear; active disturbance rejection control; robustness;

D O I：

10.1109/WCICA.2008.4593336

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Lateral locomotion control is a key technology for intelligent vehicle and ITS, and is significant to vehicle active safety. Firstly, the vehicle lateral locomotion mathematic model with constraints was given and the Active Disturbance Rejection Control(ADRC) was introduced briefly. Then the model was transformed to series format and the vehicle lateral locomotion system was expressed as a series system constructed with two sub systems, and the two ADRC controllers were designed for the two sub systems, respectively. The simulation results show that within the large velocity scale, the ADRC controllers can make the intelligent vehicle to accomplish smooth and high precision on lateral locomotion, and being robust to system parameter perturbations and disturbances. The work can give guidance to the engineering control study and design for the advanced vehicle.

引用

页码：2619 / +

页数：2

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