Observer-Based Pole-Zero Cancellation Trajectory-Tracking Control for Two-Wheeled Vehicles With Performance Recovery Property

This study systematically considers the model and load uncertainties of the two-wheeled vehicles and its motor to devise an improved trajectory-tracking controller. The resultant feedback system consists of an inner loop command-following controller with respect to linear velocity and yaw angle references from the outer loop position controller. First, high-order pole-zero cancellation (PZC) techniques derive the model-free observers for the inner and outer loops to estimate the velocity and acceleration without the model structure and its parameter information. Second, similar to the observer design process, the observer-based proportional-integral controllers compensated by active damping terms stabilize the inner and outer loops, ensuring performance recovery by the first-order PZC. A LabVIEW-based prototype two-wheeled vehicle built by the TETRIX kit (vehicle body), OptiTrack (localization), and a MyRIO1900 (controller) validates the effectiveness of the proposed technique.