The Simulation Study of Auto-disturbance Rejection Controller on Unmanned Tracked Vehicle Steering
Lin Yao, Hongwei Yang, Hanqing Zhao
Available Online June 2015.
- https://doi.org/10.2991/meici-15.2015.160How to use a DOI?
- ADRC; Unmanned vehicles; Steering control; System simulation
- 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.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
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 - 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 - https://doi.org/10.2991/meici-15.2015.160 ID - Yao2015/06 ER -