3 years ago

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

Lu Xiong, Yehan Jiang, Zhiqiang Fu

Publication date: 2018

Source: IFAC-PapersOnLine, Volume 51, Issue 31

Author(s): Lu Xiong, Yehan Jiang, Zhiqiang Fu


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.

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