A Robust Path Tracking Control Method for Intelligent Vehicle 2018-01-1582
This paper presents a strong robust path tracking control method which is based on sliding mode control and active disturbance rejection control. Firstly, by constructing a desired yaw angle function, which can guarantee that the deviations of the vehicle actual lateral displacement from the desired path converges to zero when the yaw angle of the vehicle approaches the desired yaw angle, so that the complex path tracking control problem can be transformed into easy to implement yaw angle tracking control problem. Then, a robust vehicle yaw angle tracking controller is constructed. The controller consists of two parts: the extended state observer and the nonlinear error feedback control law. The extended state observer is used to estimate the unmodeled dynamics and unknown external perturbations of the system in real time. The nonlinear error feedback control law is designed by combining the nonsingular terminal sliding mode and exponential approximation law to compensate the system total disturbance and achieve accurate yaw angle tracking control. The improved control system has better control quality and response characteristics. In order to verify the effectiveness of the proposed path tracking control method, using CarSim and Simulink to simulate the typical driving conditions, the simulation results show that the controller designed in this paper can ensure that the intelligent vehicle track the reference path quickly and precisely and has strong robustness.