Path Tracking Control of Automatic Parking Based on Extended State Observer
In order to eliminate the influence of external interference and the uncertainty of the Kine-matics model of the steering system,the vehicle Kinematics model of the automatic vertical parking system is established,and a linear expansion state observer is designed.The observer can observe and compensate the external interference and model uncertainty of the system as the total disturbance with-out establishing an accurate mathematical model of the pulled object.On this basis,the value of the extended state observer is used as the compensation of the sliding mode controller to weaken the influ-ence of disturbance and uncertainty on the controller and improve the accuracy of path tracking.By setting appropriate disturbances and simulating with Matlab/Simulink software,the effectiveness of the tracking effect of the system was verified compared to traditional sliding mode control without observ-ers.The real vehicle test results show that the path tracking controller can accurately control the vehi-cle to complete the vertical parking task,and the proposed method has a good tracking control effect in the case of variable speed and uncertain disturbance parking.
automatic parkingpath trackingextended state observersliding model control
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