TY - GEN
T1 - Slope-Aware Path Tracking Control for Unmanned Vehicles Using Active Disturbance Rejection Control
AU - Shi, Lixiang
AU - Xia, Yuanqing
AU - Yu, Dongdong
AU - Zhang, Shuhua
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - In this paper, a path tracking control strategy for unmanned vehicles is investigated on sloped terrain based on active disturbance rejection control (ADRC). The vehicle dynamics on inclined surfaces are modeled by using a simplified bicycle model, considering lateral velocity and yaw rate. A nonlinear ADRC scheme is developed, consisting of a tracking differentiator, a nonlinear extended state observer (ESO), and a nonlinear feedback controller. The proposed controller effectively compensates for unknown disturbances and ensures accurate trajectory tracking. The stability of each subsystem is analyzed based on Lyapunov theory. Simulation results are provided to show effectiveness of the path tracking control method for the unmanned vehicle.
AB - In this paper, a path tracking control strategy for unmanned vehicles is investigated on sloped terrain based on active disturbance rejection control (ADRC). The vehicle dynamics on inclined surfaces are modeled by using a simplified bicycle model, considering lateral velocity and yaw rate. A nonlinear ADRC scheme is developed, consisting of a tracking differentiator, a nonlinear extended state observer (ESO), and a nonlinear feedback controller. The proposed controller effectively compensates for unknown disturbances and ensures accurate trajectory tracking. The stability of each subsystem is analyzed based on Lyapunov theory. Simulation results are provided to show effectiveness of the path tracking control method for the unmanned vehicle.
KW - Unmanned vehicles
KW - active disturbance rejection control (ADRC)
KW - extended state observer(ESO)
KW - slope-aware path tracking
KW - tracking differentiator
UR - https://www.scopus.com/pages/publications/105034270603
U2 - 10.1109/CVCI66304.2025.11348337
DO - 10.1109/CVCI66304.2025.11348337
M3 - Conference contribution
AN - SCOPUS:105034270603
T3 - 2025 9th CAA International Conference on Vehicular Control and Intelligence, CVCI 2025
BT - 2025 9th CAA International Conference on Vehicular Control and Intelligence, CVCI 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2025 9th CAA International Conference on Vehicular Control and Intelligence, CVCI 2025
Y2 - 24 October 2025 through 26 October 2025
ER -