Path Tracking for Different Wheelbase Vehicles

Abstract

Abstract:

Abstract： In order to improve the path tracking robustness for different wheelbase vehicles, this paper proposed a path tracking algorithm for parallel parking based on sliding mode active disturbance rejection control (SMADRC). The linear sliding mode control was used in the algorithm to design the error feedback in ADRC law, which improved the structure of ADRC. The algorithm can be applied to different wheelbase vehicles. The linear active disturbance rejection controller can observe and estimate the external disturbance and uncertainty caused by different wheelbase vehicles. With the assumption of operating conditions such as a low speed and small slip angle, a nonlinear kinematic model with kinematic constraints was used for the design of the controller. Simulation results show that the path tracking algorithm based on sliding mode active disturbance rejection control can observe and compensate the uncertainty, which can guarantee different wheelbase vehicles to track the ideal parking trajectory very well.

Key words: path tracking, sliding mode active disturbance rejection control, parallel parking, uncertainty

CLC Number:

U 471.15

ZHAO Youqun1,WANG Jian1,ZANG Liguo1,LI Bo1,WU Yue2. Path Tracking for Different Wheelbase Vehicles[J]. Journal of Shanghai Jiaotong University, 2015, 49(04): 481-486.

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