Abstract:This paper deals with tracking of desired yaw rate generated by the path planner of an Autonomous Ground Vehicle (AGV) in the presence of unmodeled dynamics, changes in operating conditions and parametric uncertainties. A mathematical model considering the dynamics of the test vehicle and the steering actuator was used for controller design. The estimate of the unknown part of dynamics, called the total disturbance, obtained from the Extended State Observer (ESO) was used by Sliding Mode Controller (SMC) to co… Show more
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