• 论文 •

### 自抗扰无人车纵向编队跟踪控制

1. 1. 陕西师范大学数学与信息科学学院, 西安 710062; 2. 东北大学流程工业综合自动化国家重点\\实验室, 沈阳 110004
• 出版日期:2021-02-25 发布日期:2021-04-19

SHI Haonan, CHEN Sen, ZHAO Zhiliang. Active Disturbance Rejection Longitudinal Formation Tracking Control of Unmanned Vehicles[J]. Journal of Systems Science and Mathematical Sciences, 2021, 41(2): 291-309.

### Active Disturbance Rejection Longitudinal Formation Tracking Control of Unmanned Vehicles

SHI Haonan1, CHEN Sen1, ZHAO Zhiliang 1,2

1. 1. School of Mathematics and Information Science, Shaanxi Normal University, Xi’an 710062; 2. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University Shenyang 110004
• Online:2021-02-25 Published:2021-04-19

The aerodynamic drag, friction resistant, and the other unknown external disturbance whose dynamics models are hard to be established always bring adverse influence on the unmanned vehicles control. To improve control accuracy and tracking speed of longitudinal formation control of unmanned vehicles, we develop an active disturbance rejection tracking control method by using the state information of the considered vehicle and the front vehicle. An extended state observers is developed to estimate the total disturbance that consists of the unmodeled system dynamics and the external disturbance involves both the considered and the front vehicles. The feedback controller is constructed based on the extended state observers, where the total disturbance is compensated by their estimates. The convergence and the stability of the feedback control closed-loop system are proved rigorously. Simulations are carried out to illustrate the merits of the proposed method.

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