Active disturbance rejection control of Single wheel robot

With only one contact point with ground, the balance control problem of Single wheel robot (SWR) is still a big challenge for researchers. In this paper, a new nonlinear control algorithm—ADRC (active disturbance rejection control technique) was proposed. The integration simulation by ADAMS and MATLAB of flywheel balanced SWR is presented. The integrated platform provides an avenue for developing a mechatronics system without the need of building mathematical model. The simulation results verified the robustness of the proposed ADRC method on the control of SWR.