The College of Engineering at the University of Baghdad held the public defense of the master’s student Noor Abdulameer Mutlak from the Department of Electrical Engineering, for her thesis titled:
“Design and Implementation of a Two-Wheeled Self-Balancing Robot Based on ADRC Techniques”
on May 19, 2025, in Professor Dr. Nizar Khalil Hall, under the supervision of Prof. Dr. Ibrahim Qasim Ibrahim.
The thesis aimed to design two Active Disturbance Rejection Controllers (ADRCs) for the body angle and displacement of a two-wheeled self-balancing robot, a system that is difficult to control due to strong coupling, nonlinearity, and parameter uncertainties.
the study included the design of nine ADRC units, and the proposed approach (INLADRC) was found to be the most effective in terms of power consumption and balance speed. Practical tests on the two-wheeled robot showed that the designed ADRC scheme enables the robot to operate more stably and efficiently, exceeding 90% performance compared to conventional control strategies, achieving effective self-balancing and navigation with fast response, high accuracy, and robust performance.
The thesis concluded with several recommendations, including:
- Applying adaptive control algorithms that respond to real-time system dynamics, and exploring reinforcement learning-based controllers for self-tuning and optimization.
- Developing advanced disturbance estimation techniques to enhance rejection of external (e.g., terrain variations) and internal (e.g., parameter changes) disturbances.
- Improving energy efficiency by integrating energy-saving components (such as motors and batteries), and using control strategies that reduce actuator power consumption without compromising stability and performance.
- Utilizing higher-precision sensors for better tilt and position measurements, integrating brushless motors for smoother control and longer operational life, designing lightweight and scalable frames for improved portability and scalability, and enhancing the robot’s structural safety to withstand real-world environmental impacts.
Following the scientific discussion by the examination committee and the evaluation of the thesis, the student was awarded a Master’s degree in Electrical Engineering.
