针对空气阻力, 非线性摩擦以及外部干扰等无法精确建模的复杂不确定性因素对无人车纵向编队跟踪控制的不利影响, 为提升控制精度和收敛速度, 文章提出了基于前车与自身状态信息的自抗扰无人车纵向编队跟踪控制设计方法. 文章通过构造扩张状态观测器在线估计由前车与当前车辆系统内部未建模动态以及外部干扰等不确定性因素构成的总扰动, 并在反馈控制中利用总扰动的估计值消除总扰动的不利影响以提升控制性能品质. 文章严格证明了控制闭环系统的稳定性和收敛性并利用仿真验证了所提出方法的优越性.

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.