Path tracking method of ALV model based on ADRC strategy and differential flatness theory

Abstract

This paper is about implementing the newest approach to track the path of the autonomous land vehicle based on differential flatness theory combined with ADRC strategy method, a new approach for tracking the path. This approach is very helpful in the underactuated, nonlinear and with large uncertainties problem which is hard to control. By making a small angle approximation, a linear model is found. An alternative form of the model is based on the flat output and its derivatives only. The effectiveness of the proposed method has been justified by the simulations and comparing the results with standard tracking methodology.