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eess.SY2023
Use of Robust DOB/CDOB Compensation to Improve Autonomous Vehicle Path Following Performance in the Presence of Model Uncertainty, CAN Bus Delays and External Disturbances
Haoan Wang, Levent Guvenc
A path tracking control system is chosen as the proof-of-concept demonstration application in this paper. A disturbance observer (DOB) is embedded within the steering to path error…
cs.RO2023
Discrete-time Robust PD Controlled System with DOB/CDOB Compensation for High Speed Autonomous Vehicle Path Following
Haoan Wang, Levent Guvenc
Autonomous vehicle path following performance is one of significant consideration. This paper presents discrete time design of robust PD controlled system with disturbance observer…