Study on ADRC based lateral control for tracked mobile robots on stairs

This paper presents an Active disturbance rejection controller (ADRC) based lateral control algorithm for tracked robots on stairs, with the heading angle estimated by the vision system fixed on the robot. It can help the robot keeping its posture in order to avoid the serious influences caused by a wrong operation. Or with some further efforts on intelligent control, the robot can also auto guided on the stairs. Simulation results show that this algorithm can keep the robot a smooth and precise lateral control and effectively overcome the disturbance.