Control Algorithm of Two-Wheeled Mobile Robot Based on Active Disturbance Rejection Control

For the complex multi-input multi-output two-wheeled mobile robot(TWR) modeled, after the dynamics analysis found that there is a coupling between the state variables. When decoupling control using PID, although it can achieve a high degree of accuracy, there is still a more obvious coupling phenomenon between the state variables. Aiming at the problem of strong coupling of state variables and loss of control effect, it is proposed to design a controller for the TWR system using an active disturbance rejection control (ADRC) algorithm, which can reduce the coupling degree by the extended state observer (ESO), so as to improve the control performance of the robot. Firstly, a reasonably simplified TWR dynamics model is analyzed, and a reasonable controller is designed and proved to be stable. Then, based on ADAMS View and MATLAB/Simulink, a TWR control simulation model is built, balance, steering and self-stabilization control experiments are simulated. Simulation results of the ADRC control are compared with those using PID. The results show that the balance control of the ADRC improves the RMSE by 87.4% and significantly improves the coupling state. Besides, ADRC has a smaller range of fluctuation during system oscillations, which significantly improves the performance of the TWR with high robustness.