Control Stability Analysis of Unmanned Ground Vehicles Under External Disturbance

Abstract

This paper presents a theoretical analysis of control stability in unmanned ground vehicles under the influence of external disturbances, focusing on exponentially input-to-state stability. External disturbances can originate from a variety of sources, such as uneven terrain, obstacles, or other environmental factors, and can significantly affect the performance and stability of unmanned ground vehicles. In this paper, detailed derivations and proofs are given, which theoretically shows that the system is exponentially input-to-state stable with certain constraints, and corresponding simulation experiments also confirmed the theoretical derivation.