Research of Two-Wheeled Self-Balanced Robot's Disturbance Rejection Control on Uneven Pavement

In consideration of the uneven pavement, the disturbance rejection control problem is always the main concern of control design on two-wheeled self-balancing robot (TWSBR) system. This paper discusses the model, control and simulation of the system. An undulating model is constructed to provide a controlled object. The active disturbance rejection controller (ADRC) is designed for the vertical subsystem and displacement subsystem, a PD controller is designed for the steering subsystem as well. The simulations in different conditions (on the plane, on undulating road and with unknown disturbance) are designed to verify the ability of disturbance rejection. Compared with the traditional PID controller, the simulation results show that the ADRC has stronger disturbance rejection ability under the same fixed parameters.