Proceedings of the 2015 International Conference on Management, Education, Information and Control

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

Authors
Lin Yao, Hongwei Yang, Hanqing Zhao
Corresponding Author
Lin Yao
Available Online June 2015.
DOI
https://doi.org/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.
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Proceedings
2015 International Conference on Management, Education, Information and Control
Part of series
Advances in Intelligent Systems Research
Publication Date
June 2015
ISBN
978-94-62520-85-1
ISSN
1951-6851
DOI
https://doi.org/10.2991/meici-15.2015.160How to use a DOI?
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  -