Title: Feedback linearisation and disturbance observer based path following control for autonomous ground vehicle

Authors: Pengpeng Feng; Jianwu Zhang; Tongli Lu

Addresses: State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China ' State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China ' State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

Abstract: In this paper, a feedback linearisation and nonlinear disturbance observer based controller is proposed for the path following of autonomous ground vehicles (AGV). The path following is achieved by tracking the designed yaw rate and lateral velocity under an upper layer controller according to the vehicle perception and path information. A feedback linearisation controller (FLC) is designed allowing for nonlinearities in the vehicle model. Then disturbance caused due to external uncertainties and tyre model error is estimated by a nonlinear disturbance observer (NDOB) and the corresponding compensation is imposed to the control input to improve anti-disturbance performance of the controller. Dynamic stability of the comprehensive system is proved using Lyapunov method. Simulations and comparisons are performed in a Carsim-Simulink joint platform and efficiency and effectiveness of the present controller are verified.

Keywords: AGV; autonomous ground vehicle; path following control; feedback linearisation; NDOB; nonlinear disturbance observer; system compensation.

DOI: 10.1504/IJVSMT.2023.135438

International Journal of Vehicle Systems Modelling and Testing, 2023 Vol.17 No.3/4, pp.197 - 221

Received: 04 Mar 2021
Accepted: 27 Apr 2021
Published online: 13 Dec 2023 *

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