• DocumentCode
    3573349
  • 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
  • fYear
    2014
  • Firstpage
    4105
  • Lastpage
    4110
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Control and Automation (WCICA), 2014 11th World Congress on
  • Type

    conf

  • DOI
    10.1109/WCICA.2014.7053403
  • Filename
    7053403
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3573349