A Composite Barrier Function Sliding Mode Control Method Based on an Extended State Observer for the Path Tracking of Unmanned Articulated Vehicles

A Composite Barrier Function Sliding Mode Control Method Based on an Extended State Observer for the Path Tracking of Unmanned Articulated Vehicles

Unmanned articulated vehicles play a crucial role in the intelligent mine system and have been extensively investigated and implemented in the fields of mine transportation, agriculture and forestry construction. However, the working environment of articulated wheeled vehicles is harsh and the worki...

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Bibliographic Details
Main Authors: Kanghua Zhang, Xiaochao Gu, Nan Wang, Jialu Cao, Jixin Wang, Shaokai Zhang, Xiang Li
Format: Article
Language:English
Published: MDPI AG 2025-02-01
Series:Drones
Subjects:
unmanned articulated vehicles
composite barrier function sliding mode control
unstructured environment
extended state observer
path tracking
Online Access:https://www.mdpi.com/2504-446X/9/3/182
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