Balance and path tracking coupling control of unmanned motorcycle: A LADRC method combining a nonlinear auxiliary function and a reference model

In order to realize the balance and path tracking control of unmanned motorcycle without self-balancing auxiliary device. In this paper, a coupling control scheme is proposed, which uses auxiliary function and reference model to realize balance and path tracking coupling control only by controlling handlebar steering. Firstly, LADRC is designed to realize the balance control of unmanned motorcycle by controlling the angular speed of handlebar steering. Secondly, the expected roll angle of the motorcycle is generated based on the reference model, and the nonlinear relationship between the yaw error and the lateral position error is combined to design the nonlinear auxiliary function, which realizes the path tracking control of the motorcycle by controlling the steering angle of the handlebar. Finally, the convergence of the linear extended state observer (LESO) and the nonlinear auxiliary function is proved theoretically, and the proposed scheme is simulated. The simulation results show that the proposed control scheme has a good tracking effect on both the classical path and the true path, which further verifies the effectiveness and robustness of the proposed scheme.