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• W4205185877 abstract "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." @default.
• W4205185877 created "2022-01-26" @default.
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• W4205185877 date "2022-09-01" @default.
• W4205185877 modified "2023-10-17" @default.
• W4205185877 title "Composite Nonlinear Path-Following Control for Unmanned Ground Vehicles With Anti-Windup ESO" @default.
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• W4205185877 doi "https://doi.org/10.1109/tsmc.2021.3130981" @default.
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