TY - GEN
T1 - ADRC-based Control of Pan-tilt System for Automated Vehicle Sensors
AU - Sun, Chao
AU - Leng, Jianghao
AU - Wang, Sifan
AU - Qi, Li
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - The environmental perception ability of automated vehicles is highly dependent on the measurement precision of on-board sensors, which may be influenced by vehicle vibration on rough roads. Thus, a pan-tilt servo system of the sensors is essential for disturbances compensation. This paper analyzed external disturbances of pan-tilt servo system via a road roughness model and a seven-DOF vehicle model. An Active Disturbance Rejection Control (ADRC) framework, which consists of extended state observer (ESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF) law, is established for the system control. In addition, the control parameters of ADRC are determined via experience and particle swarm optimization (PSO) jointly. Simulation results demonstrate that the proposed control method can effectively reduce the servo system response time while enhancing the system stability, compared with a traditional proportion control approach.
AB - The environmental perception ability of automated vehicles is highly dependent on the measurement precision of on-board sensors, which may be influenced by vehicle vibration on rough roads. Thus, a pan-tilt servo system of the sensors is essential for disturbances compensation. This paper analyzed external disturbances of pan-tilt servo system via a road roughness model and a seven-DOF vehicle model. An Active Disturbance Rejection Control (ADRC) framework, which consists of extended state observer (ESO), tracking differentiator (TD), and nonlinear state error feedback (NLSEF) law, is established for the system control. In addition, the control parameters of ADRC are determined via experience and particle swarm optimization (PSO) jointly. Simulation results demonstrate that the proposed control method can effectively reduce the servo system response time while enhancing the system stability, compared with a traditional proportion control approach.
KW - active disturbance rejection control
KW - pan-tilt
KW - particle swarm optimization
KW - road roughness level
UR - http://www.scopus.com/inward/record.url?scp=85125204617&partnerID=8YFLogxK
U2 - 10.1109/CCDC52312.2021.9601588
DO - 10.1109/CCDC52312.2021.9601588
M3 - Conference contribution
AN - SCOPUS:85125204617
T3 - Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021
SP - 1939
EP - 1944
BT - Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 33rd Chinese Control and Decision Conference, CCDC 2021
Y2 - 22 May 2021 through 24 May 2021
ER -