Extended state observers in consensus: application to slope compensation in cruise control algorithms

https://doi.org/10.58571/CNCA.AMCA.2025.071

Resumen: This paper presents a cruise control with road condition compensation based on discrete extended state observers. The road condition compensator operates as a multi-agent systems in consensus to achieve real-time disturbance estimation under measurement noise. The road characteristics considered in this study include the friction coefficient and slope. Numerical simulations are provided to validate the proposed road condition compensation scheme for four different slope angles with measurement noise for two types of graphs: ring and star.

¿Cómo citar?

de la Guerra, A. & Guerrero-Castellanos, F. (2025). Extended state observers in consensus: application to slope compensation in cruise control algorithms. Memorias del Congreso Nacional de Control Automático 2025, pp. 415-420. https://doi.org/10.58571/CNCA.AMCA.2025.071

Palabras clave

Observers, multi-agents, disturbance estimation.

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