Steering Angle Control of Autonomous Vehicles Based on Active Disturbance Rejection Control

被引：13
|
作者：
Xiong, Lu [1 ]
Jiang, Yehan [1 ]
Fu, Zhiqiang [1 ]
机构：
[1] TongJi Univ, Sch Automot Studies, Shanghai 201804, Peoples R China
来源：
IFAC PAPERSONLINE | 2018年 / 51卷 / 31期
关键词：
Steering angle control; Autonomous vehicles; EPS; SbW; ADRC; SYSTEMS;
D O I：
10.1016/j.ifacol.2018.10.128
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The tracking control to achieve desired steering angle is significant for autonomous vehicles. This paper deals with the steering angle control using the steering actuator in autonomous vehicles with electric power steering (EPS) system or steer-by-wire (SbW) system. Mathematical model of the steering system is presented. Based on the analysis of the nominal model, active disturbance rejection control (ADRC) is applied to estimate the tire self-aligning moment and calculate the steering torque. In the end, the numerical simulations are conducted to verify the proposed steering angle controller. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：796 / 800
页数：5
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