@inproceedings{80b9c52a5fd042939e78becf86f843f7,
title = "Trajectory tracking control of a four-wheel-steering car based on differential flatness and ADRC",
abstract = "A flatness based robust active disturbance rejection control technique is proposed for the trajectory tracking problem of a special under-actuated system known as four-wheel-steering car. The under-actuated problem of such nonlinear coupled system consisting of three degrees of freedom is settled by exploiting its flatness property to obtain an input-output map. Active disturbance rejection control (ADRC), which shows many advantages in estimating and compensating the lumped effects is then utilized. Several simulations are carried out to show the improvements in vehicle handling and stability of the flat based high-order linear ADRC scheme.",
author = "Shengfei Li and Yuanqing Xia and Fan Pu and Mengyin Fu",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 14th International Workshop on Variable Structure Systems, VSS 2016 ; Conference date: 01-06-2016 Through 04-06-2016",
year = "2016",
month = jul,
day = "7",
doi = "10.1109/VSS.2016.7506946",
language = "English",
series = "Proceedings of IEEE International Workshop on Variable Structure Systems",
publisher = "IEEE Computer Society",
pages = "368--372",
booktitle = "2016 14th International Workshop on Variable Structure Systems, VSS 2016",
address = "United States",
}