Autonomous Vehicle Following Control Based on An Extended State Observer

被引：0
|
作者：
Sun, Xinhe [1 ]
Jia, Xinchun [1 ]
Li, Lei [1 ]
Zhang, Dawei [1 ]
机构：
[1] Shanxi Univ, Sch Math Sci, Taiyuan 030006, Peoples R China
来源：
2015 34TH CHINESE CONTROL CONFERENCE (CCC) | 2015年
关键词：
Autonomous Vehicle Following Control; Extended State Observer (ESO); Unknown Delay; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The problem of autonomous vehicle following control based on an extended state observer is investigated in this paper. The time delays of a vehicle's running process, which include a known delay and an unknown delay with an upper bound, are taken into consideration in the vehicle following system. An extended state observer (ESO) is designed to estimate total disturbances including internal disturbances and external disturbances. A controller with the ESO is designed to maintain a desired spacing between the neighboring vehicles. And a numerical example is given to illustrate the effectiveness of the proposed approach.
引用
收藏
页码：8079 / 8084
页数：6
相关论文
共 50 条
  • [1] Changed extended state observer based position control for autonomous underwater vehicle
    Song, Wanping
    Zheng, Chen
    Chen, Zengqiang
    Sun, Mingwei
    Sun, Qinglin
    2023 IEEE 12TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS CONFERENCE, DDCLS, 2023, : 1086 - 1091
  • [2] Linear quadratic regulator based on extended state observer-based active disturbance rejection control of autonomous vehicle path following control
    Kang, Nan
    Han, Yi
    Wang, Biyao
    Guan, Tian
    Feng, Wenhan
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2023, 237 (01) : 102 - 120
  • [3] Yaw channel control of an autonomous underwater vehicle using sliding mode control based on an extended state observer
    Desai, Ravishankar P.
    Manjarekar, Narayan S.
    OCEANS 2022, 2022,
  • [4] Longitudinal velocity control of autonomous driving based on extended state observer
    Gao, Hongbo
    Yang, Hanqing
    Zhang, Xiaoyu
    Ren, Xiangyun
    Liang, Fenghua
    Yan, Ruidong
    Liu, Qingchao
    Hu, Mingmao
    Zhang, Fang
    Gao, Jiabing
    Bao, Siyu
    Li, Keqiang
    Li, Deyi
    Wang, Danwei
    CAAI TRANSACTIONS ON INTELLIGENCE TECHNOLOGY, 2025, 10 (01) : 36 - 46
  • [5] Autonomous Underwater Vehicle Control Using an Extended State Observer Based Adaptive Fuzzy Sliding Mode Controller
    Yoo, Seongjun
    Ji, Soobin
    Youn, Wonkeon
    Journal of Institute of Control, Robotics and Systems, 2024, 30 (10) : 1157 - 1169
  • [6] Data-driven trajectory tracking control for autonomous underwater vehicle based on iterative extended state observer
    Wu, Chengxi
    Dai, Yuewei
    Shan, Liang
    Zhu, Zhiyu
    Wu, Zhengtian
    MATHEMATICAL BIOSCIENCES AND ENGINEERING, 2022, 19 (03) : 3036 - 3055
  • [7] Control Strategy of Unmanned Aerial Vehicle Based on Extended State Observer
    Wu, Dan
    CYBER SECURITY INTELLIGENCE AND ANALYTICS, 2020, 928 : 1000 - 1006
  • [8] Attitude Control Law for Reentry Vehicle Based on Extended State Observer
    Quan Shenming
    Chao Tao
    Wang Songyan
    Yang Ming
    2017 11TH ASIAN CONTROL CONFERENCE (ASCC), 2017, : 531 - 536
  • [9] Coordinated control of hybrid electric vehicle based on extended state observer estimation
    Wang J.-J.
    Cai Y.-F.
    Chen L.
    Wang S.-H.
    Shi D.-H.
    Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science), 2021, 55 (07): : 1225 - 1233
  • [10] Feedback linearisation and disturbance observer based path following control for autonomous ground vehicle
    Feng P.
    Zhang J.
    Lu T.
    International Journal of Vehicle Systems Modelling and Testing, 2023, 17 (3-4) : 197 - 221
12345