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HFO-LADRC Lateral Motion Controller for Autonomous Road Sweeper.

Authors :
Zeng, Dequan
Yu, Zhuoping
Xiong, Lu
Fu, Zhiqiang
Li, Zhuoren
Zhang, Peizhi
Leng, Bo
Shan, Fengwu
Source :
Sensors (14248220); Apr2020, Vol. 20 Issue 8, p2274, 1p
Publication Year :
2020

Abstract

How to make a controller robust and stable to reject the disturbance of uncertainty is an inevitable challenge. Aiming at addressing the lateral control problem for an autonomous road sweeper, a heading-error-based first order linear active disturbance rejective controller (HFO-LADRC) is proposed in this paper. To eliminate the lateral error and the heading error at the same time, a new model, called the heading-error-based model, is proposed for lateral motion, and the Lyapunov function was employed to explore the convergence ability of the heading error and lateral error. Since the heading-error-based model is first order, the ADRC is designed as first order and linear, and each module of the HFO-LADRC has been devised in detail. To ensure solution accuracy, the fourth order Runge–Kutta method was adopted as the differential system solver, and a typical ring scenario and a double lane-changing scenario were designed referencing the standard. Considering the obvious influence, wheelbase uncertainty, steering ratio uncertainty and Gaussian white noise disturbance were taken into account for the tests. The results illustrate that, in the case of both wheelbase uncertainty and steer ratio uncertainty, the HFO-LADRC has strong robustness and stability compared with a typical pure pursuit controller and classical SO-LADRC. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
14248220
Volume :
20
Issue :
8
Database :
Complementary Index
Journal :
Sensors (14248220)
Publication Type :
Academic Journal
Accession number :
143076788
Full Text :
https://doi.org/10.3390/s20082274