Design and application of finite‐time tracking control for autonomous ground vehicle affected by external disturbances

IF 3.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Robust and Nonlinear Control Pub Date : 2024-09-12 DOI:10.1002/rnc.7623

Zongliang Chen, Shuguo Pan, Xinhua Tang, Xiaolin Meng, Wang Gao, Baoguo Yu

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引用次数: 0

Abstract

Path tracking plays a critical role in autonomous driving for autonomous ground vehicle (AGV). However, AGV faces challenges in accurate tracking and chatter reduction due to external disturbances, making it difficult to meet the tracking performance requirements. Currently, sliding mode control (SMC) and disturbances observer are primarily employed for disturbance estimation. However, ensuring finite‐time robust control remains a significant challenge. To ensure rapid convergence of tracking errors and effective disturbance rejection, this paper proposed a novel non‐singular fast terminal sliding mode (NFTSM) control scheme based on finite‐time disturbance observation (FDO). First, a novel NFTSM controller based on AGV dynamic model is developed to achieve fast convergence of tracking errors. Then, to mitigate disturbances effects and suppress chatter, an innovative FDO method is employed. Finally, based on FDO, the NFTSM‐FDO establishes a control scheme that enhances disturbances suppression and accelerates convergence. The simulation and experimental results demonstrate the innovation of the proposed method. Compared with other SMC methods, the results validate the effectiveness and advantages of the proposed approach, exhibiting fast convergence and superior tracking performance.

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受外部干扰影响的自主地面飞行器有限时间跟踪控制的设计与应用

路径跟踪在自动地面车辆（AGV）的自动驾驶中起着至关重要的作用。然而，由于外部干扰，AGV 在精确跟踪和减少颤振方面面临挑战，因此很难满足跟踪性能要求。目前，主要采用滑模控制（SMC）和干扰观测器来进行干扰估计。然而，确保有限时间稳健控制仍是一项重大挑战。为了确保跟踪误差的快速收敛和有效的干扰抑制，本文提出了一种基于有限时间干扰观测（FDO）的新型非矢量快速终端滑模（NFTSM）控制方案。首先，基于 AGV 动态模型开发了一种新型 NFTSM 控制器，以实现跟踪误差的快速收敛。然后，为了减轻干扰影响和抑制颤振，采用了一种创新的 FDO 方法。最后，在 FDO 的基础上，NFTSM-FDO 建立了一种控制方案，增强了干扰抑制并加快了收敛速度。仿真和实验结果证明了所提方法的创新性。与其他 SMC 方法相比，结果验证了所提方法的有效性和优势，表现出快速收敛和卓越的跟踪性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Robust and Nonlinear Control 工程技术-工程：电子与电气

CiteScore

6.70

自引率

20.50%

发文量

505

审稿时长

2.7 months

期刊介绍： Papers that do not include an element of robust or nonlinear control and estimation theory will not be considered by the journal, and all papers will be expected to include significant novel content. The focus of the journal is on model based control design approaches rather than heuristic or rule based methods. Papers on neural networks will have to be of exceptional novelty to be considered for the journal.