Control Simulation for Two-Wheeled Self-Balancing Robot Linear Move Based on Active Disturbance Rejection Controller

Abstract

To achieve a sound control for the body displacement and angle of two-wheeled self-balancing robot system, which is strong coupling, nonlinear, parameter uncertainty and hard to control, through the design of two Active Disturbance Rejection Controllers (ADRCs) for their body angle and displacement, respectively. The method compares with classical pole placement feedback control methods in the case of the robot model parameter perturbation for simulation. The results show that the ADRC method has a more robust than the pole placement one for the control object parameter.