Articulated vehicles steer through the relative rotation between front and rear bodies.This special steering form leads to poor steering stability and high precision of steering motion control.Aiming at this problem,taking a four-wheel distributed driven underground support handling articulated vehicle as prototype,the distributed articulated vehicles 11 DOF nonlinear dynamic model including the body model,tire model and single valve control unsymmetrical hydraulic cylinder steering system was built,and the hydraulic steering control system was designed based on ADRC for improving the steering stability of articulated vehicles.In order to verify the effectiveness of this method,a MATLAB/Simulink simulation model was established to analyze the steering at the initial speed of 2.5 m/s.In the same working condition,external disturbance torque was added and PID controller was used as the control group to compare and analyze the anti-disturbance performance of two hydraulic steering system controllers.The simulation results show that the steering angle error of the hydraulic steering system based on ADRC control is less than 0.017 rad,and the steering angle tracking speed is fast;compared with the PID controller,the ADRC control system has better anti-disturbance performance and the steering stability of the articulated vehicle is improved effectively.