Longitudinal velocity control of autonomous driving based on extended state observer

Abstract

Active Disturbance Rejection Control (ADRC) possesses robust disturbance rejection capabilities, making it well-suited for longitudinal velocity control. However, the conventional Extended State Observer (ESO) in ADRC fails to fully exploit feedback from first-order and higher-order estimation errors and tracking error simultaneously, thereby diminishing the control performance of ADRC. To address this limitation, an enhanced car-following algorithm utilising ADRC is proposed, which integrates the improved ESO with a feedback controller. In comparison to the conventional ESO, the enhanced version effectively utilises multi-order estimation and tracking errors. Specifically, it enhances convergence rates by incorporating feedback from higher-order estimation errors and ensures the estimated value converges to the reference value by utilising tracking error feedback. The improved ESO significantly enhances the disturbance rejection performance of ADRC. Finally, the effectiveness of the proposed algorithm is validated through the Lyapunov approach and experiments.