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HFO-LADRC Lateral Motion Controller for Autonomous Road Sweeper.

Dequan Zeng1,2, Zhuoping Yu1,2, Lu Xiong1,2

  • 1School of Automotive Studies, Tongji University, Shanghai 201804, China.

Sensors (Basel, Switzerland)
|April 23, 2020
PubMed
Summary
This summary is machine-generated.

A new heading-error-based first order linear active disturbance rejective controller (HFO-LADRC) enhances autonomous road sweeper stability. This controller effectively rejects uncertainties and disturbances, outperforming existing methods in simulations.

Keywords:
lateral motion controllinear active disturbance rejective controlrobustnesssystem uncertainty

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Area of Science:

  • Robotics and Control Systems
  • Autonomous Vehicle Navigation
  • Control Theory

Background:

  • Ensuring controller robustness and stability against uncertainties is crucial for autonomous systems.
  • Lateral control of autonomous road sweepers presents unique challenges due to dynamic uncertainties.

Purpose of the Study:

  • To propose a novel heading-error-based first order linear active disturbance rejective controller (HFO-LADRC) for autonomous road sweeper lateral control.
  • To simultaneously eliminate lateral and heading errors in autonomous road sweeper navigation.

Main Methods:

  • Developed a new heading-error-based model for lateral motion analysis.
  • Employed Lyapunov functions to analyze error convergence.
  • Designed a first-order linear active disturbance rejection controller (ADRC) tailored to the new model.
  • Utilized the fourth-order Runge-Kutta method for differential system solving.
  • Simulated performance in ring and double lane-changing scenarios with wheelbase and steering ratio uncertainties.

Main Results:

  • The proposed HFO-LADRC demonstrated strong robustness and stability under wheelbase and steering ratio uncertainties.
  • HFO-LADRC significantly outperformed a pure pursuit controller and a classical second-order LADRC (SO-LADRC).
  • Simulations confirmed the controller's effectiveness in rejecting external disturbances and model uncertainties.

Conclusions:

  • The HFO-LADRC is a robust and stable solution for the lateral control of autonomous road sweepers.
  • The heading-error-based model and controller design effectively address lateral and heading errors simultaneously.
  • This approach offers improved performance compared to existing controllers in uncertain environments.