Path Following Control Method with Active Disturbance Rejection for an Intelligent Vibration Roller

Path following is an important link to realize the automatic operation of intelligent vibration rollers.The existing control algorithms have problems such as large workloads imposed by the adjustment of parameters and low robustness. In order to improve the tracking effect of an intelligent vibrating roller in an unstructured road environment and solve these problems, a backstepping control method based on disturbance observation was designed. First, the kinematics model of the vibration roller and a novel error dynamics model with prediction function were established. Then, the influence of external disturbance on articulation angle, heading angle, and roller position in a modified intelligent vibration roller platform was studied. Real-time observation and estimation are necessary to determine the influence of external disturbance on the articulation angle and heading angle of a roller, and the influence on the roller position can be corrected by attitude information.Finally, based on the above research, an extended state observer was designed to estimate the total disturbances in real time. This observer simplifies the error dynamic model to a series integral system. The feedback control law of the controller was designed based on Lyapunov function.Simulink and hardware-in-the-loop simulation results show that the maximum values of the distance, angle, and curvature errors are 0.088m, 0.118rad, and 0.042m-1, respectively, under the condition that both the articulation angle and heading angle of the roller are disturbed by internal and external disturbances. The results show that the backstepping control method based on disturbance observation exhibits good robustness and accuracy. © 2020, Editorial Board of Journal of Tianjin University(Science and Technology). All right reserved.