Lateral Path Tracking Control of Autonomous Land Vehicle Based on ADRC and Differential Flatness

• Published in: IEEE transactions on industrial electronics (1982) Vol. 63; no. 5; pp. 3091 - 3099
• Main Authors: Xia, Yuanqing, Pu, Fan, Li, Shengfei, Gao, Yuan
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.05.2016; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active control; active disturbance rejection control; Autonomous; Computer simulation; Derivatives; differential flatness; Dynamics; Flatness; Flats; Land; Land vehicles; Lateral path tracking; Robustness; Tires; Uncertainty; underactuated; Vehicle dynamics; Vehicles; Active disturbance rejection control (ADRC); differential flatness; lateral path tracking; underactuated
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2016.2531021

This paper presents a tracking control method for the lateral motion of an autonomous land vehicle (ALV). This method is based on active disturbance rejection control (ADRC) scheme and differential flatness theory. The lateral motion is hard to control since it is underactuated, nonlinear, and with large uncertainties. By making a small-angle approximation, the dynamic model is linearized. The flatness of the linear model is proved and a flat output is found. An equivalent form of the model is obtained based on the flat output and its derivatives only. Moreover, an ADRC is adopted to guarantee both control accuracy and strong robustness. Simulation results are presented and the results show the effectiveness of the control strategies.