Robust Tracking Controller Design for Uncertain Nonlinear Self-Driving Cars

2019 ◽  
Author(s):  
Laura Celentano ◽  
Stefania Santini ◽  
Alberto Petrillo
Keyword(s):  
Controller Design ◽  
Robust Tracking ◽  
Tracking Controller ◽  
Self Driving Cars

Integrated robust tracking controller design for a developed precision planar motor with equivalent disturbances

2016 ◽  
Vol 10 (9) ◽  
pp. 1009-1017 ◽  
Author(s):  
Tao Huang ◽  
Kaimin Yang ◽  
Chuxiong Hu ◽  
Yu Zhu ◽  
Min Li
Keyword(s):  
Controller Design ◽  
Robust Tracking ◽  
Tracking Controller

A Robust Tracking Controller Design With Hierarchical Perturbation Compensation

2002 ◽  
Vol 124 (2) ◽  
pp. 261-271 ◽  
Author(s):  
SangJoo Kwon ◽  
Wan Kyun Chung
Keyword(s):  
Controller Design ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Robust Tracking ◽  
Integral Property ◽  
Control Effort ◽  
Tracking Controller ◽  
Perturbation Compensation ◽  
Unified View ◽  
Perturbation Compensator

A robust tracking controller for mechanical systems is proposed by combining the robust perturbation compensator which effectively attenuates the perturbation to the plant with the nominal tracking controller designed using the sliding surface. This approach enables a smooth sliding mode in tracking control loop without chattering problem. A unified view is given on a class of perturbation observers. Three kinds of equivalent expressions for the perturbation of a plant is described. In terms of the equivalents, we propose the feedforward perturbation observer (FFPO), the feedback perturbation observer (FBPO), and the sliding mode perturbation observer (SMPO). Successively, by hierarchically adopting these three observers to attenuate the residual perturbation, the hierarchical perturbation compensator (HPC) is constructed with stability analysis. The adaptive and integral property of the HPC greatly enhances the robust performance with minimal control effort. The actuator saturation issue is also considered. Experimental results demonstrate the effectiveness of the proposed controller.

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