Experimental studies on Q filter design of a disturbance observer for a one-wheel robot

Abstract

In this paper, experimental studies on designing Q filters in the disturbance observer (DOB) based motion control for balancing a one-wheel robot are presented. The robot is simply modeled as a second order system and the corresponding Q filters are designed to form a DOB control structure. Two Q-filters such as Q20 and Q31 are investigated and analyzed in a view point of disturbance rejection performance and sensor noise immunity. The performances of two Q filters are evaluated by realizing a DOB in the digital system for controlling the balance of a single-wheel mobile robot.