Two-In-Wheeled Self-Balancing Electric Vehicle Based on Active Disturbance Rejection Controller

This paper presents a robust control scheme for the Two-In-Wheeled Self-Balancing Electric Vehicle (TIW-SB-EV). The presence of unknown, time varying, and load-torque inputs, unknown system parameters, and the lack of knowledge of the dynamic and static frictions, suggests the design of a disturbance observer together with an active disturbance rejection control. This control scheme is known as Active Disturbance Rejection Control (ADRC) and in this work is synthesized via the differential flatness property of the system. For that, the system's flat output is measured by means of an inclinometer. The power train for the TIW-SB-EV is constituted of two In-wheel brush-less DC motors (SG/F10-48V, 800W), which are fed by a controlled three-phase inverter. The EV power supply source is provided by two Lithium Ion batteries (48V, 10AH). The proposed ADRC algorithm is implemented on the TMS320F28335 digital signal processor (DSP) chip. Real-time experimental results validate the mechanical, electrical and control design and highlight the closed-loop robustness towards endogenous and exogenous disturbance.