Analysis of two-wheeled self-balancing mobilerobots based on ADRC
HU Jian，YAN Gang-feng
（College of Electrical Engineering，Zhejiang University，Hangzhou 310027，China）
Abstract：Aiming at solving the problem that systems' uncertainties and drivers' variations may lead to the parameters' changes of thetwo-wheeled self-balancing vehicles，a system for two-wheeled self-balancing vehicles based on the active disturbance rejection control（ADRC） was researched. With accelerometer and gyroscope as attitude sensors and coaxial permanent magnet brush DC motor as
actuator，the friction between the wheels and the floor was considered. After physics analysis，Newtonian mechanics equation was used tobuild a system-related nonlinear mathematical model and to get its state-space equation. Then，the system was divided into two separatesubsystems. That is，vehicle-balancing and directions-changing. Finally，the system's total disturbance was estimated and controlled，amethod to control the two-wheeled self-balancing vehicles was put forward. This method was evaluated on the Simulink model simulationand experiments on different road conditions. The results indicate that the method based on the ADRC can be used to control the twowheeledself-balancing vehicles.
Key words：active disturbance rejection control（ADRC）；Simulink model；gyroscope；self-balancing