Design of an active front steering system for a vehicle using an active disturbance rejection control method

Sang, Nan; Chen, Lele

doi:10.1177/0036850419883565

Cited by 11 publications

(4 citation statements)

References 17 publications

(29 reference statements)

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“…Suhail et al 28 combined the control methods of ADRC and MPC to design an active steering controller for an autonomous vehicle. Sang and Chen 29 designed an active front steering control system based on ADRC, and the simulation verified that the ADRC has a stronger active disturbance rejection capability than the PID control scheme. In vehicle lane keeping control, Chu et al 30 proposed an automatic steering control scheme by combining LADRC and the quantitative feedback theory; the results showed that the LADRC has high robustness.…”

Section: Coordination Control Scheme Designmentioning

confidence: 93%

Linear quadratic regulator based on extended state observer–based active disturbance rejection control of autonomous vehicle path following control

Kang

Yong

Wang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article studies the control problem of autonomous vehicle path following with coordination of active front steering and differential steering. A hierarchical control scheme including upper layer and lower layer is proposed. In the upper layer controller, a linear quadratic regulator based on extended state observer is proposed to generate the front-wheel steering angle and external yaw moment, where extended state observer is used to estimate and compensate for the system uncertainty and external disturbance which enhances the capability of the vehicle to suppress the disturbance. A brake force distribution scheme based on the theory of control allocation is proposed in the lower layer controller to optimize and coordinate each wheel brake force to achieve differential steering. Finally, the effectiveness of proposed control scheme is verified in a co-simulation platform based on CarSim/Simulink; it can be concluded that the linear quadratic regulator based on extended state observer scheme not only has a few parameters need to be tuned, but also has the capability of active disturbance rejection.

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Section: Coordination Control Scheme Designmentioning

confidence: 93%

Linear quadratic regulator based on extended state observer–based active disturbance rejection control of autonomous vehicle path following control

Kang

Yong

Wang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…In [29], a robust AGV path tracking controller based on the combination of nonsingular terminal sliding mode and active disturbance rejection control technology was proposed, which simplifed the complex path tracking problem into a simple heading angle tracking problem. In [30], Sang and Chen designed an ADRC path tracking controller which could improve tracking accuracy more efectively than the PID controller.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Active Disturbance Rejection Control for Path Tracking of Intelligent Vehicle

2023

Mathematical Problems in Engineering

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The path tracking controller often cannot maintain the lateral stability of vehicles on large curvy roads with low adhesion road, which is easy to cause vehicle instability. In this paper, an adaptive active disturbance rejection control (ADRC) is designed to generate a front wheel angle and an additional yaw moment at the same time to guarantee the vehicle tracking accuracy and vehicle stability at the same time. The vehicle two-degree-of-freedom reference model and the path tracking error model are built to derive the error dynamics state equation. The multiinput multioutput ADRC decoupling control is studied. The BP neural network is designed to online adjust the four output parameters that are difficult to be determined in the nonlinear state feedback to form an adaptive ADRC. The yaw moment distribution scheme is studied next. By the joint simulation and hardware-in-the-loop experiment, the results show that the proposed adaptive ADRC can obtain good vehicle tracking accuracy and vehicle stability at the same time not only on both high and low adhesion roads but on the road with large curvatures.

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“…It is imperative to devise a speed-tracking controller that does not rely upon the precise model and has high precision and strong anti-disturbance ability. HAN proposed an active disturbance rejection control (ADRC) formally based on the thought of error feedback of PID, 22 which has been widely used in various fields 23–27 due to its excellent control performance. In Ref.…”

Section: Introductionmentioning

confidence: 99%

Improved active disturbance rejection speed control for autonomous driving of high-speed train based on feedforward compensation

Yue,

Wang,

Xiao

et al. 2023

Science Progress

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Due to the complex and changeable train operation environment and the unstable and time-varying parameters, accurate modeling is limited. Therefore, a modified active disturbance rejection control algorithm based on feedforward compensation (FC-MADRC) is proposed targeting the speed control problem of trains under the circumstances of external disturbances, which reduces the dependence on the train model. Firstly, the state space equation is established based on the single-particle mathematical model of the train, and all the running resistances are regarded as disturbances. Secondly, the FC-MADRC algorithm is designed. Based on the terminal attractor function and the novel Sigmoid function, an improved tracking differentiator (ITD) is designed. An improved fal (nsfal) function with better smoothness is constructed by using the properties of the Dirac δ function, and an ameliorative nonlinear state error feedback (ANLSEF) and a modified extended state observer (IESO) are designed based on the nsfal function. Furthermore, based on the thought of PID, the integral term of error is introduced into ANLSEF for the nonlinear operation to reduce the steady-state error of train speed tracking. In order to promote the robustness and control accuracy of the system, the feedforward compensation term and disturbance compensation term are combined to perform dynamic compensation for disturbances in real time. Finally, the simulation is carried out with CRH380A train data. The results indicate that compared with conventional ADRC and 2DOF-PID, FC-MADRC has the more vital anti-disturbance ability and higher tracking accuracy. FC-MADRC has the advantages of solid anti-disturbance, fast response, and high tracking accuracy. Under the premise of external disturbance, it can still achieve accurate speed tracking under different road conditions.

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Design of an active front steering system for a vehicle using an active disturbance rejection control method

Cited by 11 publications

References 17 publications

Linear quadratic regulator based on extended state observer–based active disturbance rejection control of autonomous vehicle path following control

Linear quadratic regulator based on extended state observer–based active disturbance rejection control of autonomous vehicle path following control

Adaptive Active Disturbance Rejection Control for Path Tracking of Intelligent Vehicle

Improved active disturbance rejection speed control for autonomous driving of high-speed train based on feedforward compensation

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