Path‐Tracking Model Regulation

The model regulation disturbance observer (DOB) loop partly overcomes the modeling mismatch and forces the system to behave like its desired or nominal model. The DOB structure is a two degrees‐of‐freedom control structure. Derived from the main DOB structure as its extensions, there are the communication disturbance observer (CDOB) and double disturbance observer (DDOB) structures. The DDOB is achieved by using both of the CDOB and DOB loops in the right manner. This chapter discusses these control structures and how to apply them into several case studies related to automated driving. It presents disturbance rejection analysis and Q filter design guidelines. The derivation of the model regulation using disturbance observer, analysis, and comparison of frequency response between the controlled and regulated systems are presented for different applications. The controller area network bus communication introduces time delay into the path‐tracking model which will degrade performance.