Active disturbance rejection control for automated steering in vehicles and controller tuning

This paper applies active disturbance rejection control (ADRC) to automated steering in vehicles. The controller is designed on a linear vehicle model and its performance is evaluated on a nonlinear vehicle model. A tuning method is proposed to obtain the acceptable values of the controller parameters by making the control system satisfy the requirements on stability and system performance. The stability analysis is realized through determining the eigenvalues of the control system. The ADRC controller is compared with two well-tuned PID controllers. Comparison and simulation results indicate that the ADRC controller performs better and is more robust against the parameter variations and the external disturbance.