Self-propelled Model Heading Control Based on Linear Active Disturbance Rejection Control

The heading control of the self-propelled model is often influenced by the self-propelled model itself and the external environment. Linear active disturbance rejection control is introduced into the heading control system to control the self-propelled model’s heading accurately. The linear active disturbance rejection control system, servo model, and self-propelled model jointly form the self-propelled model’s heading control system. Matlab/Simulink is used for modeling and emulating. The following conclusion is drawn: when no interference is added, Although there is not much difference in the heading response curves between linear active disturbance rejection control and PID control, linear active disturbance rejection control is smoother at the steering level; After interference is added, the response speed of linear active disturbance rejection control has a certain improvement compared to PID control; When the self-propelled model is affected by changes in the load pool or other factors, the linear active disturbance rejection controller can still achieve precise control of the heading.