Implementacion de un control por rechazo activo de perturbaciones (ADRC) en un vehículo de transporte segway

Abstract

In this document, the design and control of a self-balancing two-wheeled robot is addressed. This is an unstable and highly non-linear system, in which, a platform moves to compensate for the movement of the robot and keep it in balance. To achieve this, the implementation of a route that guarantees balance and robustness against endogenous and exogenous disturbances, such as shoves, slips, unevenness, wind and unmodeled dynamics, must be made. The self-balancing two-wheeled vehicle is based on the inverted pendulum principle. The optimization of the control system of a two-wheeled vehicle has been an area of research in recent years. This is mainly due to its non-linear dynamics where it became an important test platform for the design and development of missiles, automobiles, spacecraft, robots. Although there are different techniques when designing an optimal regulator capable of stabilizing the Segway, not all represent a good option, due to its difficulty of implementation or not to reject disturbances of different types present in a real control system.