The Simulation Study of Auto-disturbance Rejection Controller on Unmanned Tracked Vehicle Steering

DOI

10.2991/meici-15.2015.160How to use a DOI?

Keywords

ADRC; Unmanned vehicles; Steering control; System simulation

Abstract

Motion control of autonomous vehicles is a key technology in the research field of unmanned vehicles and is of great importance in the operative part of autonomous driving. This paper regards a certain type of crawler as the controlled object. First of all, the paper establishes a vehicle steering kinetic model for it by using approximate mechanism modeling, and simulates vehicle steering control by adopting auto-disturbance rejection controller and simulink. The simulation result shows that auto-disturbance rejection controller can realize signal tracking effectively, also have shorter steering response time and small overshoot, and it is more accurate by comparing with the traditional PID control method.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lin Yao
AU  - Hongwei Yang
AU  - Hanqing Zhao
PY  - 2015/06
DA  - 2015/06
TI  - The Simulation Study of Auto-disturbance Rejection Controller on Unmanned Tracked Vehicle Steering
BT  - Proceedings of the 2015 International Conference on Management, Education, Information and Control
PB  - Atlantis Press
SP  - 914
EP  - 920
SN  - 1951-6851
UR  - https://doi.org/10.2991/meici-15.2015.160
DO  - 10.2991/meici-15.2015.160
ID  - Yao2015/06
ER  -