PROJECT TITLE :

Lateral Path Tracking Control of Autonomous Land Vehicle Based on ADRC and Differential Flatness

ABSTRACT:

This paper presents a tracking control method for the lateral motion of an autonomous land vehicle (ALV). This technique relies on active disturbance rejection control (ADRC) scheme and differential flatness theory. The lateral motion is hard to manage since it is underactuated, nonlinear, and with giant uncertainties. By creating a tiny-angle approximation, the dynamic model is linearized. The flatness of the linear model is proved and a flat output is found. Identical kind of the model is obtained based on the flat output and its derivatives only. Moreover, an ADRC is adopted to guarantee each management accuracy and robust robustness. Simulation results are presented and therefore the results show the effectiveness of the control methods.