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
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