Active Disturbance Rejection Control of Two-Wheeled Self-Balancing Vehicle

The ability of two-wheeled self-balancing vehicles to reject disturbances actively is decisive for the applicability to practical activities. Bearing this view in mind, we study active disturbance rejection control (ADRC) of two-wheeled self-balancing vehicles and its implementation. Based on the dynamics of the vehicle, the ADRC control framework is developed in terms of online estimation and compensation of the modelling error and disturbances. The effectiveness of the ADRC with different combinations of control modules are presented via numerical simulations to achieve good transient performance and guide the selection of design parameters. Compared with the PID control in the same parameter setting, the experiments performed on an actual two-wheeled self-balancing vehicle demonstrate that the developed ADRC scheme enables the vehicle to operate more reliably and efficiently in the presence of sudden disturbances.