Differential Flatness-Based Robust Control of Self-balanced Robots

摘要

Underactuated self-balanced robots (SBRs) can be used to implement various tasks. However, with complicated system dynamics and existing external disturbances, the control issue of SBRs is still open and challenging. In order to deal with such problems, by constructing flat outputs, this paper proposes an active disturbance rejection control (ADRC) method for SBRs both on the horizontal plane and the inclined plane, which achieves control objectives of tracking reference signals and can reject perturbations online. Additionally, the integral algebraic estimation and the generalized proportional integral (GPI) methods are applied. Finally, to verify the effectiveness of the proposed controller, numerical simulation results are provided.