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HFO-LADRC Lateral Motion Controller for Autonomous Road Sweeper

How to make a controller robust and stable to reject the disturbance of uncertainty is an inevitable challenge. Aiming at addressing the lateral control problem for an autonomous road sweeper, a heading-error-based first order linear active disturbance rejective controller (HFO-LADRC) is proposed in...

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Principais autores: Dequan Zeng, Zhuoping Yu, Lu Xiong, Zhiqiang Fu, Zhuoren Li, Peizhi Zhang, Bo Leng, Fengwu Shan
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2020-04-01
Serier:Sensors
Fag:
lateral motion control
linear active disturbance rejective control
system uncertainty
robustness
Online adgang:https://www.mdpi.com/1424-8220/20/8/2274
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