Modeling and active disturbance rejection control algorithm of single wheel robot - Details

Author：

Ruan, Xiao-Gang (Ruan, Xiao-Gang.) | Wang, Xu (Wang, Xu.) | Chen, Zhi-Gang (Chen, Zhi-Gang.)

Indexed by：

EI Scopus PKU CSCD

Abstract：

Single　wheel　robot＇s　(SWR)　balance　of　pitch　is　controlled　by　a　wheel　moving　back　and　forth,　and　its　roll　balance　is　hold　by　a　wind　wheel　based　on　the　air　force.　This　structure　is　used　as　the　controlled　object,　and　the　kinetic　model　is　established.　A　nonlinear　control　method-active　disturbance　rejection　control　(ADRC)　algorithm　is　used　to　control　the　robot＇s　moving.　There　are　two　ADRC　controllers　in　pitch　and　roll　direction.　The　internal　and　external　disturbance　of　the　system　are　regarded　as　the　total　disturbances　of　the　ADRC　controller.　The　PID　algorithm　is　used　for　comparative　test,　and　the　result　shows　the　strong　robustness　and　effectiveness　of　the　ADRC　algorithm.　©　2015,　Northeast　University.　All　right　reserved.

Keyword：

Robustness (control systems) Kinetic theory Kinetic parameters Disturbance rejection Robots Wheels Controllers

Author Community：

[ 1 ] [Ruan, Xiao-Gang]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China
[ 2 ] [Wang, Xu]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China
[ 3 ] [Chen, Zhi-Gang]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing; 100124, China