A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles

A trajectory-tracking controller for improving the safety and stability of four-wheel steering autonomous vehicles

To achieve anti-crosswind, anti-sideslip, and anti-rollover in trajectory-tracking for Four-Wheel Steering (4WS) autonomous vehicles, a trajectory-tracking controller based on a four-channel Active Disturbance Rejection Control (ADRC) was used to track the desired lateral displacement, longitudinal...

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Bibliographic Details
Main Authors: Runqiao Liu, Minxiang Wei, Nan Sang, Jianwei Wei
Format: Article
Language:English
Published: Vilnius Gediminas Technical University 2021-06-01
Series:Transport
Subjects:
four-wheel steering
curved trajectory-tracking
active disturbance rejection control
anti-crosswind
anti-sideslip
anti-rollover
carsim®
Online Access:https://journals.vgtu.lt/index.php/Transport/article/view/14291

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