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Motion control of autonomous vehicles is a key technology in the research field of unmanned vehicles and is of great importance in the operative part of autonomous driving. This paper regards a certain type of crawler as the controlled object. First of all, the paper establishes a vehicle steering kinetic model for it by using approximate mechanism modeling, and simulates vehicle steering control by adopting auto-disturbance rejection controller and simulink. The simulation result shows that auto-disturbance rejection controller can realize signal tracking effectively, also have shorter steering response time and small overshoot, and it is more accurate by comparing with the traditional PID control method.

The Simulation Study of Auto-disturbance Rejection Controller on Unmanned Tracked Vehicle Steering