Study on ADRC-based intelligent vehicle lateral locomotion control

Lateral locomotion control is a key technology for intelligent vehicle and ITS, and is significant to vehicle active safety. Firstly, the vehicle lateral locomotion mathematic model with constraints was given and the active disturbance rejection control(ADRC) was introduced briefly. Then the model was transformed to series format and the vehicle lateral locomotion system was expressed as a series system constructed with two sub systems, and the two ADRC controllers were designed for the two sub systems, respectively. The simulation results show that within the large velocity scale, the ADRC controllers can make the intelligent vehicle to accomplish smooth and high precision on lateral locomotion, and being robust to system parameter perturbations and disturbances. The work can give guidance to the engineering control study and design for the advanced vehicle.