Design of Two-Wheeled Self-Balancing Vehicle Based on Fixed-time Observer

The two-wheeled self-balancing vehicle (TWSBV) is a typical wheeled mobile robot. Since it is a multi-variable, nonlinear, strong coupling, and under-actuated system, the TWSBV is usually used as a benchmark to test control algorithms. The design and control problems of the TWSBV are addressed in this paper. In practical application, the TWSBV may be subjected to external disturbances. Meanwhile, the accurate model parameters of the TWSBV are difficult to be obtained. The model uncertainties and external disturbances are regarded as the lumped perturbation term, which is estimated by a designed fixed-time extended state observer (FXESO). Based on the estimation of the lumped perturbation term, an active disturbance rejection control (ADRC) is developed to compensate for perturbation and stabilize the TWSBV system. The effectiveness of the proposed scheme is verified by the TWSBV platform.