Composite Nonlinear Path-Following Control for Unmanned Ground Vehicles With Anti-Windup ESO

In this article, a composite nonlinear feedback (CNF) controller with anti-windup extended state observer (ESO) is proposed for path-following control of unmanned ground vehicles (UGVs). To describe steering dynamics accurately, a saturation model with bounded disturbances is developed subject to path-following, lateral dynamic, and steering capability. The anti-windup ESO is investigated for real-time disturbance estimation under saturated input. The CNF controller is designed for path-following. In terms of asymptotically null controllability, a practical semiglobal stabilization result is derived for the closed-loop system with saturated input and bounded disturbances. Experimental results show that the proposed strategy is effective for UGVs.