Active disturbance rejection control of Single wheel robot

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.