In this article, a neural active disturbance rejection adaptive lateral manipulation control method for an unmanned driving robot (UDR) is proposed to realize accurate and stable steering and path tracking. Combined with a model of the manipulated vehicle and steering manipulator, an integrated dynamics model of the vehicle manipulated by a UDR is established. Taking the error of the body heading angle and the lateral error of the vehicle as input, an active disturbance rejection controller is designed; it includes a tracking differentiator, nonlinear state error feedback (NLSEF) device, and an extended state observer. To achieve a better performance, the combination mode of the NLSEF is adjusted adaptively by a radial basis function NN. The network is then initialized by a particle swarm optimization algorithm. Finally, the results of simulations and experiments show that the proposed method effectively improves the performance of stable steering and path tracking of the UDR.

中文翻译：

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无人驾驶机器人神经主动抗扰自适应横向操纵控制方法

在本文中，提出了一种用于无人驾驶机器人（UDR）的神经主动抗扰自适应横向操纵控制方法，以实现精确稳定的转向和路径跟踪。结合被操纵车辆和转向操纵器的模型，建立了UDR操纵车辆的综合动力学模型。以车身航向角误差和车辆横向误差为输入，设计了主动抗扰控制器；它包括一个跟踪微分器、非线性状态误差反馈 (NLSEF) 设备和一个扩展状态观察器。为了获得更好的性能，NLSEF的组合模式通过径向基函数NN自适应调整。然后通过粒子群优化算法初始化网络。最后，