Two-wheeled Self-balancing Robot Based On Active Disturbance Rejection Controller

The Two-wheeled self-balancing robot is a highly unstable wheeled mobile robot,which has a unstable, multi-variables, strong coupling, nonlinear, parameter uncertainty and other characteristics ,and has a strong theoretical research value and a wide range value of market applications.Active Disturbance Rejection Control (ADRC) develops the kernel of the PID control, and combines the observer of modern control ideas. It is a new control method , which algorithm is simple and adaptability, and can automatically compensate internal and external disturbances. The control method does not depend on the system model,and has the strong adaptation , robustness and operability. It can be widely used in industrial applications.ADRC is introduced into Two-wheeled self-balancing robot in this study, we get the robot control algorithm based on the ADRC by the established robot model, the simulation and test Verification algorithm is effective. The paper describes as:1)We obtain the mathematical model from the established Two-wheeled self-balancing robot by using kinematics and dynamics analysis, and get the corresponding state space equation.2)Based on the received state space model of the system,we analyzed the controllability of the robot system,and designed the feedback control systems according to pole placement theory. Based on whether the system be controlled decoupled or not, we designed a single ADRC and double ADRC control system, and set up the simulation block diagram for the three kinds of control systems with SIMULINK. We did a variety of simulation, such as changing the setting value. By compared the overshoot and the transition time of simulation results,the double ADRC control system is superior to other controllers.3)We designed the AVR Mega16 as the core of the control system hardware circuit, and developed the corresponding software to collect and process the sensor data, motor drive, control algorithms function, etc., The commissioning of the machine to verify the theoretical analysis and controller design of effective and rationality.