In this article, a switching longitudinal and lateral semi-decoupled active disturbance rejection control (ADRC) strategy is proposed for motion control of unmanned ground vehicles (UGVs). To characterize the coupling property between longitudinal and lateral dynamics, a switching longitudinal and lateral semicoupled model is first developed. By utilizing the switching method, a so-called “two-stage ADRC” strategy is presented. It has two forms before and after the transition instant such that the boundedness premise for the derivative of the total disturbance can be removed. With the designed two-stage ADRC, a longitudinal and lateral semi-decoupled controller is then suggested to solve the motion control problem of UGVs. Finally, both stability analysis and comparison results are given to demonstrate the effectiveness and robustness of the proposed control strategy.  

　　Publication:  

　　IEEE Transactions on Industrial Electronics ( Volume: 71, Issue: 3, March 2024)  

　　http://dx.doi.org/10.1109/TIE.2023.3265048  

　　Author:  

　　Haoyu Wang  

　　Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China  

　　Zhiqiang Zuo  

　　Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China  

　　Wenchao Xue  

　　Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing, China  

　　School of Mathematical Sciences, University of Chinese Academy of Sciences, Beijing, China  

　　Email: wenchaoxue@amss.ac.cn  

　　Yijing Wang  

　　Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China  

　　Hongjiu Yang  

　　Tianjin Key Laboratory of Intelligent Unmanned Swarm Technology and System, School of Electrical and Information Engineering, Tianjin University, Tianjin, China