This paper presents the non-linear control of an inverted pendulum type two-wheel self-balancing robot under the influence of uncertainties. Unlike most of the works in the literature, we propose a robust orientation control without resorting to linearisations around the equilibrium points or assumptions of small angles. A non-simplified nonlinear model is established in the presence of disturbance. The proposed algorithm is based on active disturbance rejection control ADRC. An extended state observer to estimate and compensate for the global disturbance is designed to assume unknown external disturbances and unmodeled dynamics. The observer is feedback along with a non-linear PID to ensure stability. The control algorithm has the property of being lightweight for possible implementation in embedded systems with low processing power.
Robust Control of a Two-Wheeled Self-Balancing Mobile Robot
2021-11-01
1619664 byte
Conference paper
Electronic Resource
English
Two-wheeled robot self-balancing control method and robot
European Patent Office | 2023
|Self-balancing wheeled robot control device with accelerometer
European Patent Office | 2023
|