Active Disturbance Rejection Control for Steering System of Unmanned Vehicle

Abstract

A method of intelligent steering control of unmanned vehicle wheel using Active Disturbance Rejection Control (ADRC) is proposed. The steering system of unmanned vehicles is composed of active disturbance rejection controller, angle sensor, motor driver and steering bridge mechanism. When ADRC of front wheels is realized by active disturbance rejection controller, the dynamic equation of the vehicle needs to be normalized first to ensure the dynamic equation of vehicle degree of freedom that can accurately reflect the lateral dynamic characteristics of the vehicle and then the accurately control the tracking of the ideal yaw rate of the vehicle by second-order ADRC. The unmanned vehicle controlled by the proposed method did not overshoot. At the initial stage of yaw disturbance, the response speed of the front wheel’s angle controlled by the proposed method is faster than that of the PID control and the present time is about 0.02s. The vehicle path deviation controlled by the proposed control method is only 60% of the vehicle path deviation controlled by the PID control method. The proposed method makes the vehicle to have stronger anti-yaw disturbance ability and further enhances the vehicle’s path-keeping ability.