Title :
Active disturbance rejection control of Single wheel robot
Author :
Xiaogang Ruan ; Xu Wang ; Xiaoqing Zhu ; Zhigang Chen ; Rongyi Sun
Author_Institution :
Sch. of Electron. Inf. & Control Eng., Beijing Univ. of Technol., Beijing, China
Abstract :
With only one contact point with ground, the balance control problem of Single wheel robot (SWR) is still a big challenge for researchers. In this paper, a new nonlinear control algorithm-ADRC (active disturbance rejection control technique) was proposed. The integration simulation by ADAMS and MATLAB of flywheel balanced SWR is presented. The integrated platform provides an avenue for developing a mechatronics system without the need of building mathematical model. The simulation results verified the robustness of the proposed ADRC method on the control of SWR.
Keywords :
active disturbance rejection control; mechatronics; mobile robots; nonlinear control systems; ADAMS; ADRC; MATLAB; active disturbance rejection control; balance control problem; flywheel balanced SWR; mechatronics system; nonlinear control algorithm; single wheel robot; Equations; Mathematical model; Mobile robots; Solid modeling; Three-dimensional displays; Wheels; ADAMS; ADRC (active disturbance rejection control technique); Robustness; Single Wheel Robot;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7053403
