Active disturbance rejection control based on adaptive differential evolution for two-wheeled self-balancing robot

An active disturbance rejection control (ADRC) technique based on adaptive differential evolution (ADE) algorithm and an improved PID control strategy were proposed so as to solve the problem of self-balancing control and steering control for two-wheeled self-balancing robot. By using Lagrange formula, the nonholonomic dynamic mathematical model was derived based on the nonholonomic dynamic Routh equation of generalized coordinates. For self-balancing control, an ADRC strategy whose parameters were adjusted by means of ADE algorithm was designed. For steering control, a PID control strategy combined with tracking differentiator (TD) was designed. The dynamic model of the whole robot was built through Adams software by applying virtual prototype technology. Finally, co-simulations using both Matlab/Simulink and Adams were carried on. The co-simulation results showed that the supposed control strategy could achieve self-balancing and steering operation effectively with the performance of fast adjusting speed, high accuracy and strong robustness as well.