CN103970137A - Control method of ALV transverse displacement tracking system based on active disturbance rejection - Google Patents

Abstract

The invention provides a control method of an ALV transverse displacement tracking system based on active disturbance rejection. Through simulation under different conditions, the robustness of an active disturbance rejection controller on the aspect of vehicle transverse trail tracking control is proved. The method includes the steps that firstly, an ALV transverse kinetic model is established; then, the active disturbance rejection controller is designed according to the control model; at last, according to the active disturbance rejection controller, the robustness of the active disturbance rejection controller on the aspect of vehicle transverse trail tracking control is proved through simulation under different conditions. The active disturbance rejection controller comprises a tracking differentiator, an expansion state observer and a nonlinear feedback control law.

Description

ALV transversal displacement tracker control method based on active disturbance rejection

Technical field

The invention belongs to the horizontal control field of ground autonomous land vehicle system, relate to a kind of horizontal control method of ground autonomous land vehicle system based on Auto Disturbances Rejection Control Technique.

Background technology

Ground autonomous land vehicle (Autonomous Land Vehicle, ALV) being the key components of Future Combat System (FCS) and intelligent transportation system (ITS), is one of most active research directions in field such as current intelligent robot and artificial intelligence.The conventional locomotive functions such as ALV not only should have acceleration, slows down, advances, falls back, turning, but also should there is the capacity of will such as task analysis, environment sensing, path planning, path trace, automatic obstacle-avoiding.Its research relates to the science and technology field such as machinery, kinematics and dynamics, electronics, computing machine, information processing, control and artificial intelligence.

Auto Disturbances Rejection Control Technique is absorption modern control theory achievement, develops PID thought marrow (eliminating error based on error), develops the novel practical technology of using Special Nonlinear effect to develop.Auto Disturbances Rejection Control Technique is totally independent of the mathematical model of controlled device, and its most outstanding feature is exactly that the effect that acts on all uncertain factors of controlled device is all summed up as to " unknown disturbance " and utilizes the inputoutput data of object that it is estimated in real time and is recompensed.The meaning of active disturbance rejection is just this, outside not needing directly to measure, does not disturb effect here, does not also need to realize the action rule of knowing disturbance.This also makes in rugged environment, to require to realize the occasion that high-speed, high precision is controlled, and Auto Disturbances Rejection Control Technique more can be showed its superiority.

Summary of the invention

The present invention be directed to the defect of prior art, propose a kind of ALV transversal displacement tracker control method based on active disturbance rejection, by the emulation under different condition, proved that automatic disturbance rejection controller is in the robustness aspect lateral direction of car Trajectory Tracking Control.

Technical scheme of the present invention is as follows:

An ALV transversal displacement tracker control method based on active disturbance rejection, model ground autonomous land vehicle horizontal dynamic model; And then according to this, control model, design automatic disturbance rejection controller; Last according to described automatic disturbance rejection controller, by the emulation under different condition, prove that automatic disturbance rejection controller is in the robustness aspect lateral direction of car Trajectory Tracking Control.

Described automatic disturbance rejection controller comprises Nonlinear Tracking Differentiator, extended state observer and nonlinear Feedback Control rule.

Beneficial effect of the present invention:

1,, when the speed of a motor vehicle is higher, mobile platform horizontal dynamic linear model can meet the requirement that its transverse movement is controlled.

2, under the control of automatic disturbance rejection controller, mobile platform has been realized steady and high-precision transverse movement in 0～40m/s velocity range, variation to self parameter, road conditions He Huan road time etc. also has very strong robustness, can meet the requirement of high performance control, thereby show that it is feasible that ADRC controls for high speed moving platform transverse movement.

3, the Engineering Design that the present invention can be the high motor platform of high speed of studying provides guidance.

Accompanying drawing explanation

Fig. 1. platform transverse movement control system structured flowchart;

Fig. 2. ground autonomous land vehicle system lateral control model figure;

Fig. 3. track expectation transversal displacement figure;

Fig. 4 .V _x=1m/s and platform parameter are the curve of output under nominal value;

Fig. 5 .V _x=20m/s and platform parameter are the curve of output under nominal value;

Fig. 6 .V _x=40m/s and platform parameter are the curve of output under nominal value;

Fig. 7 .V _x=35m/s and platform parameter are the curve of output under non-nominal value;

Fig. 8. curve of output when platform has perturbation and disturbance.

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in detail.

The horizontal control method of ground autonomous land vehicle system based on Auto Disturbances Rejection Control Technique of the present invention, comprises the following steps:

The first step: set up ground autonomous land vehicle system lateral control model and see accompanying drawing 1, be described below:

$\left\{\begin{array}{c}{\stackrel{\·}{v}}_y=-\frac{C_r+C_f}{{\mathrm{mv}}_x}{v}_y+(\frac{C_r{l}_r-C_f{l}_f}{{\mathrm{mv}}_x}-v_x)\stackrel{\·}{\mathrm{\ψ}}+\frac{C_f}{m}{\mathrm{\δ}}_f\\ \stackrel{\·\·}{\mathrm{\ψ}}=\frac{-l_f{C}_f+l_r{C}_r}{I_z{v}_x}{v}_y-\frac{l_f^2{C}_f+l_r^2{C}_r}{I_z{v}_x}\stackrel{\·}{\mathrm{\ψ}}+\frac{l_f{C}_f}{I_z}{\mathrm{\δ}}_f\end{array}\right.---\left(1\right)$

Wherein, l _ffor the distance between barycenter and front axle, l _rfor the distance between barycenter and rear axle, m is unloaded WT, C _f, C _rthe cornering stiffness of tire before and after being respectively, δ _ffor vehicle front wheel angle, I _zexpression is around the moment of inertia of Z axis, v _xrepresent longitudinal velocity, v _yrepresent transverse velocity, represent yaw velocity.

For the demand for control of independent control transversal displacement, be that horizontal dynamic model above formula (1) improves, taked following form:

$\stackrel{\·\·}{\mathrm{\ψ}}=\frac{-l_f{C}_f+l_r{C}_r}{I_z{v}_x}{v}_y-\frac{l_f^2{C}_f+l_r^2{C}_r}{I_z{v}_x}\stackrel{\·}{\mathrm{\ψ}}+\frac{l_f{C}_f}{I_z}{\mathrm{\δ}}_f---\left(2\right)$

$\stackrel{\·}{y}=V_x\sin \left(\mathrm{\ψ}\right)+V_y\cos \left(\mathrm{\ψ}\right)---\left(3\right)$

|δ|≤δ _max(4)

Wherein, formula (2) is horizontal dynamic linear model, described platform relatively its body connect firmly the transverse movement characteristics of coordinate system, under the bound condition of wheel turning angle δ, obtain, thereby affix equation (4); Meanwhile, in order to connect firmly the transverse movement characteristics of research platform in coordinate system at the earth, add coordinate conversion equation (3).The transverse movement mathematical model of the wheel moving platform under the reference frame that so just obtains being described by 3 equations.Model hypothesis platform adopts front-wheel steer, and two steering wheel angles are identical.

Second step: the plant model of setting up according to the first step, design its automatic disturbance rejection controller, mainly comprise the design of Nonlinear Tracking Differentiator, extended state observer and three aspects of nonlinear Feedback Control rule:

1, platform transverse movement Transformation of Mathematical Model

For design platform transverse movement ADRC controller, need convert system model to Affine Incentive.For this reason, make x ₁=y, x ₂=ψ, x ₄=V _y, x ₅=δ, u=δ _cformula (2)～(4) are rewritten as to formula (5), (6), and remember that subsystem corresponding to formula (5) is ∑ _{y ψ}, subsystem corresponding to formula (6) is .

${\mathrm{\Σ}}_{\mathrm{y\ψ}}:\left\{\begin{array}{c}{\stackrel{\·}{x}}_1=f_1\left(t\right)+b_{\mathrm{y\ψ}}\left(t\right)u_{\mathrm{y\ψ}}\\ f_1\left(t\right)=x_4\cos \left(x_2\right)\\ y=x_1\end{array}\right.---\left(5\right)$

Wherein, b _{y ψ}=V _x, u _{y ψ}=sin (x ₂).

${\mathrm{\Σ}}_{\mathrm{\ψ}{\mathrm{\δ}}_c}:\left\{\begin{array}{c}{\stackrel{\·}{x}}_2=x_3\\ {\stackrel{\·}{x}}_3=f_2\left(t\right)+b_{\mathrm{\ψ}{\mathrm{\δ}}_c}\left(t\right)u_{\mathrm{\ψ}{\mathrm{\δ}}_c}\\ f_2\left(t\right)=2l_f{C}_{\mathrm{sf}}\frac{x_4+l_f{x}_3}{I_z{V}_x}-2l_r{C}_{\mathrm{sr}}\frac{x_4-l_r{x}_3}{I_z{V}_s}\\ {\stackrel{\·}{x}}_4=-V_x{x}_3-2(C_{\mathrm{sf}}\frac{x_4+l_f{x}_3}{I_z{V}_x}+C_{\mathrm{sr}}\frac{x_4-l_r{x}_3}{I_z{V}_x})+\frac{{2C}_{\mathrm{sf}}}{m}{x}_5\\ y_1=x_2\end{array}\right.---\left(6\right)$

Wherein, $b_{\mathrm{\ψ}{\mathrm{\δ}}_c}\left(t\right)=\frac{2l_f{C}_{\mathrm{af}}}{I_z},u_{\mathrm{\ψ}{\mathrm{\δ}}_c}=x_5,$ x ₂＝arcsin(u _yψ)。

According to formula (5), (6), can further platform transverse movement be expressed as to one by two subsystem ∑s _{y ψ}, the non-linear object being connected into.Wherein, u (is δ _c) be subsystem u _{y ψ}controlled quentity controlled variable, be also the controlled quentity controlled variable of platform transverse movement; u _{y ψ}it is subsystem ∑ _{y ψ}controlled quentity controlled variable (middle controlled quentity controlled variable); Subsystem control target by solving arcsin (u _{y ψ}) provide.For guaranteeing u _{y ψ}by sin (ψ), asked the uniqueness of ψ, establish | ψ |≤45 ° (during Project Realization, can guarantee by the reconstruction of coordinate system that this condition set up all the time).

2, the discrete logarithm of ADRC

(1) arrange transient process

" arrangement transient process " can be used " Nonlinear Tracking Differentiator (trackdifferentiator, TD) " or other appropriate method to generate

$\left\{\begin{array}{c}{v}_1(k+1)=v_1\left(k\right)+h\·v_2\left(k\right)\\ v_2(k+1)=v_2\left(k\right)+h\·\mathrm{fst}(v_1\left(k\right)-v_0,v_2\left(k\right),r,h_0)\end{array}\right.---\left(7\right)$

(2) estimated state and total disturbance (ESO equation)

$\left\{\begin{array}{c}e=z_1\left(k\right)-y\left(k\right);\\ z_1(k+1)=z_1\left(k\right)+h(z_2\left(k\right)-{\mathrm{\β}}_{01}e)\\ z_2(k+1)=z_2\left(k\right)+h(z_3\left(k\right)-{\mathrm{\β}}_{02}\·\mathrm{fal}(e,{\mathrm{\α}}_1,\mathrm{\δ})+b_{0}u\left(k\right))\\ z_3(k+1)=z_3\left(k\right)=z_3\left(k\right)-h\·{\mathrm{\β}}_{03}\·\mathrm{fal}(e,{\mathrm{\α}}_2,\mathrm{\δ})\end{array}\right.---\left(8\right)$

(3) formation of controlled quentity controlled variable

NF output: $\left\{\begin{array}{c}{e}_1=v_1\left(k\right)-z_1\left(k\right)\\ e_2=v_2\left(k\right)-z_2\left(k\right)\\ u_0=K_p\·\mathrm{fal}(e_1,{\mathrm{\α}}_p,\mathrm{\δ})+K_D\·\mathrm{fal}(e_2,{\mathrm{\α}}_D,\mathrm{\δ})\end{array}\right.---\left(9\right)$

Controlled quentity controlled variable is synthetic: u (k)=u ₀-z ₃(k)/b ₀(10) in formula (7)～(10), h is control cycle.

$\mathrm{fal}(e,\mathrm{\α},\mathrm{\δ})=\left\{\begin{array}{cc}{\left|e\right|}^{\mathrm{\α}}\·\mathrm{sgn}\left(e\right),& \left|e\right|>\mathrm{\δ},\\ \frac{e}{{\mathrm{\δ}}^{1-\mathrm{\α}}},& \left|e\right|\≤\mathrm{\δ}.\end{array}\right.---\left(11\right)$

$\mathrm{fst}(\·)=\left\{\begin{array}{cc}-\mathrm{ra},& \left|a\right|\≤d\\ -r\·\mathrm{sgn}\left(a\right),& |a>d|\end{array}\right.---\left(12\right)$

And sgn is sign function,

$a=\left\{\begin{array}{cc}{v}_2+\frac{v_0}{h},& \left|y_0\right|>d_0\\ v_2+\frac{\mathrm{sgn}\left(y_0\right)\·(a_0-d)}{2}& \left|y_0\right|>d_0\end{array}\right.---\left(13\right)$

Wherein, d=rh, d ₀=dh, y ₀=v ₁-v ₀+ hv ₂.

3, design its automatic disturbance rejection controller

According to formula (7)～(13), subsystem ∑ _{y ψ}automatic disturbance rejection controller be expressed as formula (14)～(17).

$\left\{\begin{array}{c}\mathrm{fh}=\mathrm{fhan}(v_1-v_{\mathrm{\ψ\δ}},v_2,r_0,h)\\ v_1=v_1+h\·v_2\\ v_2=v_2+h\·\mathrm{fh}\end{array}\right.---\left(14\right)$

$\left\{\begin{array}{c}e=z_1-y_{\mathrm{\ψ\δ}}\\ \mathrm{fe}=\mathrm{fal}(e,0.5,h),{\mathrm{fe}}_1=\mathrm{fal}(e,0.25,h)\\ z_1=z_1+h\·(z_2-{\mathrm{\β}}_{01}\·e)\\ z_2=z_2+h\·(z_3-{\mathrm{\β}}_{02}\·\mathrm{fe}+b_{\mathrm{\ψ\δ}}\·u_{\mathrm{\ψ\δ}})\\ z_3=z_3+h\·(-{\mathrm{\β}}_{03}\·{\mathrm{fe}}_1)\end{array}\right.---\left(15\right)$

$\left\{\begin{array}{c}{e}_1=v_1-z_1,e_2=v_2-z_2\\ u_0=k(e_1,e_2,p)\end{array}\right.---\left(16\right)$

$u_{\mathrm{\ψ\δ}}=u_0-\frac{z_3}{b_{\mathrm{\ψ\δ}}}---\left(17\right)$

Subsystem automatic disturbance rejection controller be expressed as formula (18)～(21).

$\left\{\begin{array}{c}\mathrm{fh}=\mathrm{fhan}(v_4-v_{\mathrm{y\ψ}},v_5,r_1,h)\\ v_4=v_4+h\·v_5\\ v_5=v_5+h\·\mathrm{fh}\end{array}\right.---\left(18\right)$

$\left\{\begin{array}{c}{e}_3=z_4-y_{\mathrm{y\ψ}}\\ z_4=z_4+h\·(z_5-{\mathrm{\β}}_{04}\·e_3+b_{\mathrm{y\ψ}}\·u_{\mathrm{y\ψ}})\\ z_5=z_5+h\·(-{\mathrm{\β}}_{05}\·e_3)\end{array}\right.---\left(19\right)$

$\left\{\begin{array}{c}{e}_4=v_4-z_4\\ u_1={\mathrm{\βe}}_4\end{array}\right.---\left(20\right)$

$u_{\mathrm{y\ψ}}=u_1-\frac{z_5}{b_{\mathrm{y\ψ}}}---\left(21\right)$

4, two ADRC controllers of above-mentioned cascade system access are formed to two closed-loop controls, see accompanying drawing 2.In figure, it is respectively ∑ _{y ψ}with controller, for single order ADRC controller, for second order ADRC controller.

The parameter of having determined designed controller according to the feature of platform transverse movement system, provides its design process below.

Step1 designs " arrangement transient process " parameter, and " arrangement transient process " parameter is generally determined in conjunction with actual executive capability and the control target of object, relatively independent with the design process of NF and ESO parameter.System ∑ _{y ψ}displacement v ₀use sine function method to arrange transient process, system yaw angle ψ is used TD method to arrange transient process.

Step2 is (with second order for example) estimate , by the parameter K of NF _pand K _dbe taken as less number, coarse adjustment ESO parameter beta ₀₁, β ₀₂, β ₀₃, α ₁, α ₂, δ.

Step3 intersection is adjusted ESO parameter and NF parameter K _p, α _p, ^δ _p(K _d, α _d, δ _d).According to above-mentioned steps, consider the requirement of platform high-speed cruising, selected control cycle h=0.01s, in vehicle velocity V _xunder=40m/s peace platform nominal parameters, designed one group of parameter of transverse movement controller.

In order to verify the validity of the ground autonomous land vehicle system Lateral Controller based on Auto Disturbances Rejection Control Technique of above-mentioned design, by the emulation under different condition, proved that automatic disturbance rejection controller is in the robustness aspect lateral direction of car Trajectory Tracking Control.

The kinetics equation of the ground autonomous land vehicle system of setting up in the present invention is as follows:

$\left\{\begin{array}{c}{\stackrel{\·}{v}}_y=-\frac{C_r+C_f}{{\mathrm{mv}}_x}{v}_y+(\frac{C_r{l}_r-C_f{l}_f}{{\mathrm{mv}}_x}-v_x)\stackrel{\·}{\mathrm{\ψ}}+\frac{C_f}{m}{\mathrm{\δ}}_f\\ \stackrel{\·\·}{\mathrm{\ψ}}=\frac{-l_f{C}_f+l_r{C}_r}{I_z{v}_x}{v}_y-\frac{l_f^2{C}_f+l_r^2{C}_r}{I_z{v}_x}\stackrel{\·}{\mathrm{\ψ}}+\frac{l_f{C}_f}{I_z}{\mathrm{\δ}}_f\end{array}\right.$

Wherein, l _ffor the distance 1.05m between barycenter and front axle, l _rfor the distance 1.63m between barycenter and rear axle, m is unloaded WT 1480Kg, C _ffor the cornering stiffness 67500N/rad of front tyre, C _rfor the cornering stiffness 47500N/rad of rear tyre, δ _ffor vehicle front wheel angle, I _zexpression is around the moment of inertia 2350Kgm of Z axis ², v _xrepresent longitudinal velocity, v _yrepresent transverse velocity, represent yaw velocity.

Simulated environment

Suppose that platform does two-track line motion with a certain fixedly longitudinal velocity, change track (transient process of arrangement) and see accompanying drawing 3.This track is used sine function planning algorithm to produce, and planning formula is suc as formula shown in (22).In formula, v ₀(t): expectation transversal displacement; W: lane width; t ₁: from the moment in right lane port track; t ₂: on left-lane, start moment of travelling; t ₃: the moment that turns to right road from left-lane; t ₄: the moment that comes back to right lane.

$v_0\left(t\right)=\left\{\begin{array}{cc}0,& t<t_1\\ \frac{W}{2}[1-\cos \left(\frac{2\mathrm{\&pi;}}{T}(t-t_1)\right)],& t_1\&le;t\&le;t_2;\\ W,& t_2<t\&le;t_3;\\ \frac{W}{2}[1+\cos \left(\frac{2\mathrm{\&pi;}}{T}(t-t_3)\right)],& t_3<t\&le;t_4;\\ 0,& t_4<t.\end{array}\right.---\left(22\right)$

Because planned track must pass through current location, and its tangential direction also should be consistent with platform direction of motion in current position, therefore can establish starting condition y ₀=0, ψ ₀=0, δ ₀=0.

During emulation, change parameter and the longitudinal velocity V of platform and steering mechanism _x, to examine or check the robustness of ADRC controller. wherein, tire angular rigidity C _sf, C _srchange both can represent the perturbation of the parameter of tire own, also can represent the variation (disturbance) of road ground condition; Platform barycenter can represent the variation (disturbance) of mass distribution and the longitudinal unevenness of road simultaneously to the change of axle distance. therefore, arranging of above-mentioned simulation parameter can be examined or check designed ADRC controller to " inside " and " outside " probabilistic adaptive faculty.

Simulation result

Accompanying drawing 4～6 is respectively V _x=1m/s, 20m/s, 40m/s and platform parameter are the simulation result under nominal value; Shown in accompanying drawing 7 is the simulation result of following parameter: V _x=35m/s, m=2220kg (nominal value 1.5 times), I _z=3290kgm ²(nominal value 1.4 times), I _f=1.2m (moving 0.15m after barycenter), I _r=1.48m, C _sf=40500N/rad (nominal value 60%), C _sr=28500N/rad (nominal value 60%).Accompanying drawing 8 is at C _sf=[0.85+0.15 (2U (0,1)-1)] C _{sf_nom}, C _sr=[0.85+0.15 (2U (0,1)-1)] C _{sr_nom}, result when other parameters are identical with Fig. 4 .7 simulated conditions, wherein U (0,1) is unit uniformly distributed function.The condition that Fig. 4 .7, Fig. 4 .8 are corresponding is controlled very harsh for platform transverse movement automatically.Wherein, blue track represents the reference locus shown in accompanying drawing 3, the controller of green track representative based on the design of ADRC method controlled the actual path of institute's dolly, and the controller of red track representative based on neural network control method design controlled the actual travel track of dolly.Provided the Contrast on effect of green track and red track under different situations simultaneously.

Accompanying drawing 4～6 results show, ADRC controller has good adaptive faculty to the variation of platform speed, successfully realized to system transverse movement steadily, high precision controls.Accompanying drawing 7, accompanying drawing 8 results show, though longitudinal velocity increasing, platform parameter and the larger change of road conditions generation, platform still has desirable transverse movement performance under the control of ADRC controller.

Claims (5)

1. the ALV transversal displacement tracker control method based on active disturbance rejection, is characterized in that: model ground autonomous land vehicle horizontal dynamic model; And then according to this, control model, design automatic disturbance rejection controller; Last according to described automatic disturbance rejection controller, by the emulation under different condition, prove that automatic disturbance rejection controller is in the robustness aspect lateral direction of car Trajectory Tracking Control.

2. a kind of ALV transversal displacement tracker control method based on active disturbance rejection as claimed in claim 1, is characterized in that: described automatic disturbance rejection controller comprises Nonlinear Tracking Differentiator, extended state observer and nonlinear Feedback Control rule.

3. a kind of ALV transversal displacement tracker control method based on active disturbance rejection as claimed in claim 2, is characterized in that: described Nonlinear Tracking Differentiator adopts with drag:

$\left\{\begin{array}{c}{v}_1(k+1)=v_1\left(k\right)+h\&CenterDot;v_2\left(k\right)\\ v_2(k+1)=v_2\left(k\right)+h\&CenterDot;\mathrm{fst}(v_1\left(k\right)-v_0,v_2\left(k\right),r,h_0)\end{array}\right.$

Wherein $\mathrm{fst}(\&CenterDot;)=\left\{\begin{array}{cc}-\mathrm{ra},& \left|a\right|\&le;d\\ -r\&CenterDot;\mathrm{sgn}\left(a\right),& |a>d|\end{array}\right.$

And sgn is sign function,

$a=\left\{\begin{array}{cc}{v}_2+\frac{v_0}{h},& \left|y_0\right|>d_0\\ v_2+\frac{\mathrm{sgn}\left(y_0\right)\&CenterDot;(a_0-d)}{2}& \left|y_0\right|>d_0\end{array}\right.$

d＝rh，d ₀＝dh，y ₀＝v ₁-v ₀+hv ₂

Wherein, r is parameter to be adjusted, and is also the velocity factor of Nonlinear Tracking Differentiator, h ₀be filtering factor, h is sampling step length, v ₀that ground autonomous land vehicle system is laterally controlled reference input, v ₁(k) input signal for being used for following the tracks of, v ₂(k) be the approximate differential signal that obtains input signal, d, d ₀, a, a ₀, y, y ₀for the intermediate variable in equation solver process, in iteration, eliminate; By solving this equation, obtain approximate differential signal, Yi Bian follow the tracks of input signal, Yi Bian obtain its approximate differential signal.

4. a kind of ALV transversal displacement tracker control method based on active disturbance rejection as claimed in claim 2 or claim 3, is characterized in that: described extended state observer adopts with drag:

$\left\{\begin{array}{c}e=z_1\left(k\right)-y\left(k\right);\\ z_1(k+1)=z_1\left(k\right)+h(z_2\left(k\right)-{\mathrm{\&beta;}}_{01}e)\\ z_2(k+1)=z_2\left(k\right)+h(z_3\left(k\right)-{\mathrm{\&beta;}}_{02}\&CenterDot;\mathrm{fal}(e,{\mathrm{\&alpha;}}_1,\mathrm{\&delta;})+b_{0}u\left(k\right))\\ z_3(k+1)=z_3\left(k\right)=z_3\left(k\right)-h\&CenterDot;{\mathrm{\&beta;}}_{03}\&CenterDot;\mathrm{fal}(e,{\mathrm{\&alpha;}}_2,\mathrm{\&delta;})\end{array}\right.$

Wherein: $\mathrm{fal}(e,\mathrm{\&alpha;},\mathrm{\&delta;})=\left\{\begin{array}{cc}{\left|e\right|}^{\mathrm{\&alpha;}}\&CenterDot;\mathrm{sgn}\left(e\right),& \left|e\right|>\mathrm{\&delta;},\\ \frac{e}{{\mathrm{\&delta;}}^{1-\mathrm{\&alpha;}}},& \left|e\right|\&le;\mathrm{\&delta;}.\end{array}\right.$

Wherein, z ₁, z ₂, z ₃the output of extended state observer, z ₁tracker state v ₁, z ₂the state v of tracker ₂, z ₃be internal disturbance and the external disturbance of estimating system, h is sampling step length, b ₀coefficient z for control variable ₁(k+1), z ₂(k+1), z ₃(k+1) be the output of extended state observer, z ₁(k+1) tracker state v ₁(k), z ₂(k+1) the state v of tracker ₂(k), z ₃(k+1) be internal disturbance and the external disturbance of estimating system, b ₀₁, b ₀₂, b ₀₃it is the coefficient of observer, embody the observing capacity of observer, e is state error, and u (k) is the controlled quentity controlled variable of system, and y is system output, δ is the linearity range burst length of power function f al, need to meet δ ∈ [0,1], get δ=0.01, α represents the power of power function f al, and α is expressed as α in two fal functions ₁α ₂, meet 0< α ₂< α ₁<1, gets α ₁=0.5, α ₂=0.25.

5. a kind of ALV transversal displacement tracker control method based on active disturbance rejection as claimed in claim 4, is characterized in that: described nonlinear Feedback Control rule adopts with drag:

$\left\{\begin{array}{c}{e}_1=v_1\left(k\right)-z_1\left(k\right)\\ e_2=v_2\left(k\right)-z_2\left(k\right)\\ u_0=K_p\&CenterDot;\mathrm{fal}(e_1,{\mathrm{\&alpha;}}_p,\mathrm{\&delta;})+K_D\&CenterDot;\mathrm{fal}(e_2,{\mathrm{\&alpha;}}_D,\mathrm{\&delta;})\end{array}\right.$

Wherein, e ₁, e ₂respectively error and the differential thereof between observed quantity and input signal, K _p, K _dfor Error Feedback gain, embody the control ability of controller, in above formula, δ meets δ ∈ [0,1], gets δ=0.01, and the power of two power functions meets 0< α _p<1< α _d, get α _p=0.5, α _d=2; The expression formula that obtains automatic disturbance rejection controller control law is as follows:

u(k)＝u ₀-z ₃(k)/b ₀。