Active Disturbance Rejection Controller for Yaw Stability of Super-heavy Special Vehicles
1. Rocket Force Sergeant College, Qingzhou 262500, China;
2. The Key Laboratory of Systems and Control,Academy of Mathematics and Systems Sciences, Chinese Academy of Sciences, Beijing 100190, China
Abstract：An active disturbance rejection control method for yaw stability control of super-heavy special vehicles is proposed. First, to deal with the under-actuated control problem of yaw dynamics, the original system is transformed into a tadem system composed of side slip angle and yaw angular velocity. Second, two active disturbance rejection controllers are designed for the two subsystems, respectively. The closed-loop system presents an inner and outer loop structure, with yaw angular velocity control loop in the inner loop and side slip angle control loop in the outer loop. Then, it can be proved that the closed-loop system is semi-global uniformly and ultimately bounded by the singular perturbation theory. Finally, the joint simulation is conducted based on three typical working conditions including MATLAB and TruckSim, double lane change and circle, the simulation results verify the feasibility of the proposed active disturbance rejection control method.
陈志翔,汤国杰,舒洪斌,曹友, 董家臣. 超重载特种车辆横摆稳定性自抗扰控制[J]. 指挥与控制学报, 2024, 10(5): 561-568.
CHEN Zhixiang,TANG Guojie,SHU Hongbin, CAO You, DONG Jiachen. Active Disturbance Rejection Controller for Yaw Stability of Super-heavy Special Vehicles. Journal of Command and Control, 2024, 10(5): 561-568.
2024, Vol. 10 
