ADRC-based Control of Pan-tilt System for Automated Vehicle Sensors

Chao Sun*, Jianghao Leng, Sifan Wang, Li Qi

*此作品的通讯作者

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

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.

源语言英语
主期刊名Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021
出版商Institute of Electrical and Electronics Engineers Inc.
1939-1944
页数6
ISBN(电子版)9781665440899
DOI
出版状态已出版 - 2021
活动33rd Chinese Control and Decision Conference, CCDC 2021 - Kunming, 中国
期限: 22 5月 202124 5月 2021

出版系列

姓名Proceedings of the 33rd Chinese Control and Decision Conference, CCDC 2021

会议

会议33rd Chinese Control and Decision Conference, CCDC 2021
国家/地区中国
Kunming
时期22/05/2124/05/21

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