التحكم الخطي في رفض الاضطراب النشط (ADRC) للروبوت المتوازن ذاتي العجلتين

Noor Abdul Ameer; Ibraheem Kasim Ibraheem

doi:10.31026/j.eng.2025.03.10

Article Details

التحكم الخطي في رفض الاضطراب النشط (ADRC) للروبوت المتوازن ذاتي العجلتين

Authors:

Noor Abdul Ameer | Ibraheem Kasim Ibraheem

Publisher:

University of Baghdad

Journal:

Journal of Engineering Vol.31 Issue 3, pp.168-184

Document Type:

Article

Publication Date:

3/2025

Document Language:

Arabic

Document ID (Org No.):

2001382132

pISSN:

2520-3339

DOI:

10.31026/j.eng.2025.03.10

Keywords:

Abstract:

 The application of two-wheeled self-balancing robots to real-world tasks critically depends on their ability to actively reject disturbances. The objective is to design two active disturbance rejection controllers (ADRCs) for body angle and displacement, respectively, for a two-wheeled self-balancing robot system, which is difficult to control due to strong coupling, nonlinearity, and parameter uncertainty. Based on the system dynamics, an ADRC control framework is designed to estimate and compensate for modeling errors and disturbances online. Numerical simulations are used to demonstrate the effectiveness of ADRC in different controller combinations, using Simulink MATLAB 2022a and tuning parameters by genetic algorithm (GA) to ensure good temporal performance and assist in the design parameter selection process. Studies on a real two-wheeled self-balancing vehicle show that the constructed ADRC scheme allows the vehicle to operate more than 90% more stably and effectively than the assumed control strategy, which can effectively realize the self-balancing and steering process with the performance of fast adjustment speed, high accuracy, and strong robustness as well when compared with the PID (proportional-integral-derivative) controller under the same parameter setting.

Article Details

التحكم الخطي في رفض الاضطراب النشط (ADRC) للروبوت المتوازن ذاتي العجلتين

Authors:

Noor Abdul Ameer | Ibraheem Kasim Ibraheem

Publisher:

University of Baghdad

Journal:

Journal of Engineering Vol.31 Issue 3, pp.168-184

Document Type:

Article

Publication Date:

3/2025

Document Language:

Arabic

Document ID (Org No.):

2001382132

pISSN:

2520-3339

DOI:

10.31026/j.eng.2025.03.10

Two Wheel Self-Balancing Robot (TWSBR)

Active Disturbance Rejection Control (ADRC)

Proportional-Integral-Derivative (PID) control

Genetic Algorithm (GA)

Issues

Article Details

التحكم الخطي في رفض الاضطراب النشط (ADRC) للروبوت المتوازن ذاتي العجلتين

Authors: Noor Abdul Ameer | Ibraheem Kasim Ibraheem

Publisher: University of Baghdad

Journal: Journal of Engineering Vol.31 Issue 3, pp.168-184

Document Type: Article

Publication Date: 3/2025

Document Language: Arabic

Document ID (Org No.): 2001382132

pISSN: 2520-3339

DOI: 10.31026/j.eng.2025.03.10

Two Wheel Self-Balancing Robot (TWSBR)

Active Disturbance Rejection Control (ADRC)

Proportional-Integral-Derivative (PID) control

Genetic Algorithm (GA)

Issues

Authors:

Noor Abdul Ameer | Ibraheem Kasim Ibraheem

Publisher:

University of Baghdad

Journal:

Journal of Engineering Vol.31 Issue 3, pp.168-184

Document Type:

Article

Publication Date:

3/2025

Document Language:

Arabic

Document ID (Org No.):

2001382132

pISSN:

2520-3339

DOI:

10.31026/j.eng.2025.03.10