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

Da Peng Ye; Jia Ming Yu; Yi Zhang Zhou

doi:10.4028/www.scientific.net/AMR.644.129

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 644Control Simulation for Two-Wheeled Self-Balancing...

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.

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Periodical:

Advanced Materials Research (Volume 644)

Pages:

129-133

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.644.129

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Online since:

January 2013

Authors:

Da Peng Ye, Jia Ming Yu, Yi Zhang Zhou

Keywords:

ADRC, Pole Placement, Simulation, Two-Wheeled Self-Balancing Robot

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