The application of disturbance observer in two-wheeled mobile robot

Analyzing the motion features of two-wheeled mobile robot, the corresponding function is built and the disturbance observer is used in the control of robot. The control system of two-wheeled mobile robot adopts the disturbance observer, parameters of which are figured out by practicing feedback control theory. By simulation, it is showed that the system has better ability to restrain disturbances and improved motion capabilities.