2023
DOI: 10.1002/asjc.3110
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Parameter self‐learning feedforward compensation‐based active disturbance rejection for path‐following control of self‐driving forklift trucks

Abstract: In this paper, for self‐driving forklift, a path‐following framework based on composite disturbance rejection that combines a cascaded active disturbance rejection controller and an online estimator of model parameters is proposed on the basis of a geometry feedforward controller. The model‐based cascaded active disturbance rejection control (ADRC), in particular, is composed of an outer‐loop controller and an inner‐loop controller, with the outer‐loop controller reducing lateral error by manipulating the desi… Show more

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Cited by 3 publications
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