Self-balancing Car Control Based on Active Disturbance Rejection Control (ADRC)

The Active Disturbance Rejection Control (ADRC) algorithm is becoming more and more popular in the field of controller design. Compared with the traditional PID control algorithm, ADRC algorithm can achieve better performance. ADRC consists of a tracking differentiator, a feedback control law, and an extended state observer. For the self-balancing two-wheeled car control, it can be taken as a single-stage inverted pendulum model. Based on the formulated mathematical differential equation model, we apply the ADRC algorithm to control the self-balancing car. Furthermore, to show the effectiveness of ADRC, we compare its performance with PID controller by Simulink simulation tool of MATLAB. Simulation results show that the ADRC algorithm performs better than PID in smaller overshoot, lower steady-state error and faster convergence rate.