自动驾驶车辆路径跟踪的条件积分自抗扰控制器

Zixuan Qian, Zhuoping Yu, L. Xiong, Zhiqiang Fu, Dequan Zeng
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引用次数: 0

摘要

针对不确定性干扰和执行器饱和问题,提出了一种基于条件积分的自抗扰控制器(ADRC)的自动驾驶车辆路径跟踪方法。首先,推导了描述路径跟踪过程的车辆运动学模型。其次,设计了非线性扩展状态观测器来观察不确定性扰动,如外部扰动和参数不确定性;最后,为了在抗执行器饱和的同时消除误差和抑制干扰,提出了一种条件积分的反馈控制方法。换道场景的测试结果表明,与PID和自抗扰控制器相比,该算法能够快速准确地跟踪所需路径。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Conditional Integration Active Disturbance Rejection Controller for Path Tracking of Autonomous Driving Vehicles
Aim at rejecting uncertainty disturbance and actuator saturation, a path tracking method is proposed for autonomous driving vehicles, which is implement by active disturbance rejection controller (ADRC) with conditional integration. Firstly, a kinematic-dynamic vehicle model is deduced for describing path tracking process. Secondly, a nonlinear extended state observer is designed to observe the uncertainty disturbance, such as external disturbance and parameter uncertainties. Finally, in order to eliminate error and reject disturbance while resisting actuator saturation, a conditional integration is developed as feedback control low. The test results of lane changing scenarios show that the proposed algorithm can track the desired path quickly and accurately compared with PID and ADRC.
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