Estimator-Based Turning Control for Unmanned Ground Vehicles: An Anti-Peak Extended State Observer Approach

In this paper, an anti-steering wheel inertia-lag controller with anti-peak extended state observer (ESO) is proposed for turning control of unmanned ground vehicles (UGVs). A composite modeling method is developed to get a more accurate parametric model such that the steering characteristics of UGVs can be described more reasonably. An anti-peak ESO is investigated to attenuate the peak phenomenon and improve practicability. In terms of a tracking differentiator and the anti-peak ESO, an active disturbance rejection control strategy is suggested to solve the inertia-lag problem during the steering process. A bounded convergence result is given and the effectiveness of the proposed control method is verified through experiments.