Lateral path tracking control of Autonomous Land Vehicle based on Active Disturbance Rejection control

Study of lateral path tracking control is basic content in researching field of Autonomous Land Vehicle (ALV). In this respect, several works have been devoted to lateral control and different control techniques have been used in these works. At present, there are two key problems in lateral path tacking control. One is the use of simple kinematics model, which is easy to control but neglect disturbances. The other is the lack of robustness in motion control. So this article make a study in the above problems. First, a suitable kinematics model is adopted. Second, a new control algorithm based on the Active Disturbance Rejection Concept is used, where the disturbances are estimated using an extended state observer (ESO) and compensated in each sampling period.