Aiming at the control problem of driverless vehicle under multi-source disturbance, a vehicle precise control strategy based on ADRC (Active Disturbance Rejection Control) is proposed. Firstly, a nonlinear time-varying dynamic model of unmanned vehicle is established. Then, the dual channel controller based on ADRC is designed. In the simulation experiments, the given step signal is input to verify that the ADRC can track the desired signal in the presence of multi-source disturbance.
Vehicle precise control system based on active disturbance rejection control under multi-source disturbance
2023-04-28
1832964 byte
Conference paper
Electronic Resource
English
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