Vehicle Steering Tracking Based on Sampled-Data Active Disturbance Rejection Control
LIU Yahui
GAO Zifan
ZHU Shuqian
WANG Tingrui
Abstract：The model reference tracking control problem of four-wheel-steering vehicle was investigated by using sampled-data active disturbance rejection control(ADRC).A sampled-data-driven extended state observer was designed to estimate both tracking error and crosswind disturbance,and a sampled-data AD-RC was constructed using the estimated tracking error and estimated disturbance.Using the augmented system and input delay system modeling methods plus the Lyapunov-Krasovskii functional method,a sam-pled-period-dependentH੭performance analysis result was derived.Further,an optimal control design al-gorithm resorting to the cone complementarity linearization technology was provided to obtain the minimal H੭performance index and realize the co-design of controller gain and observer gain.Simulation results verified that the proposed sampled-data ADRC method can force the vehicle sideslip angle and yaw rate to track the desired targets through front and rear wheel steering in a sampled-data environment,while the classical control method based on disturbance observer can not complete the tracking control task;and the proposed control method can reduce the tracking error by 95%compared with the classical proportional control method.
Keywords：four wheel steeringactive disturbance rejection controlsampled-data controlrobust control
Publication Date：2024-08-28
Online Publishing Date：2026-08-28(First online date of this platform, not the publication date of the document)
Pages：9( 14-22 )