Dynamic Surface Active Disturbance Rejection Control for Two-Wheeled Self-Balancing Robot

Considering the control problem of two-wheeled self-balancing robot (TWSBR) under various disturbances, this paper combines the advantages of dynamic surface control (DSC) and active disturbance rejection control(ADRC) to get the dynamic surface active disturbance rejection controller(DSADRC). Firstly, the "total disturbance" of the system is estimated by the expansion state observer after being linearized by dynamic compensation. Then, two DSC controllers are designed for the linearized vertical subsystem and displacement subsystem respectively, and a PD controller is designed for the steering subsystem. Two different robot models, which are constructed on the plane and the undulating surface with known and unknown disturbance, are simulated by the parameter-fixed DSC controller to verify the ability of disturbance rejection. The simulation results show that the DSADRC has a strong ability to restrain various disturbances.