Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach

Hebertt Sira-Ramírez, Alberto Luviano-Juárez, Mario Ramírez-Neria, Eric William Zurita-Bustamante

Research output: Book/ReportBook

23 Citations (Scopus)

Abstract

© 2017 Elsevier Inc. All rights reserved. Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach describes the linear control of uncertain nonlinear systems. The net result is a practical controller design that is simple and surprisingly robust, one that also guarantees convergence to small neighborhoods of desired equilibria or tracking errors that are as close to zero as desired. This methodology differs from current robust feedback controllers characterized by either complex matrix manipulations, complex parameter adaptation schemes and, in other cases, induced high frequency noises through the classical chattering phenomenon. The approach contains many of the cornerstones, or philosophical features, of Model Free Control and ADRC, while exploiting flatness and GPI control in an efficient manner for linear, nonlinear, mono-variable and multivariable systems, including those exhibiting inputs delays. The book contains successful experimental laboratory case studies of diverse engineering problems, especially those relating to mechanical, electro-mechanical, robotics, mobile robotics and power electronics systems. Provides an alternative way to solve disturbance rejection problems and robust control problem beyond the existing approaches based on matrix algebra and state observers. Generalizes the widely studied Extended State Observer to a class of observers called Generalized Proportional Integral Observers (GPI Observers). Contains successful experimental laboratory case studies.
Original languageAmerican English
Number of pages34
ISBN (Electronic)9780128118955, 9780128498682
StatePublished - 12 May 2017

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Disturbance rejection
Dynamical systems
Robotics
Controllers
Multivariable systems
Robust control
Power electronics
Nonlinear systems
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Sira-Ramírez, H., Luviano-Juárez, A., Ramírez-Neria, M., & Zurita-Bustamante, E. W. (2017). Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach.
Sira-Ramírez, Hebertt ; Luviano-Juárez, Alberto ; Ramírez-Neria, Mario ; Zurita-Bustamante, Eric William. / Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach. 2017. 34 p.
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Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach. / Sira-Ramírez, Hebertt; Luviano-Juárez, Alberto; Ramírez-Neria, Mario; Zurita-Bustamante, Eric William.

2017. 34 p.

Research output: Book/ReportBook

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AB - © 2017 Elsevier Inc. All rights reserved. Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach describes the linear control of uncertain nonlinear systems. The net result is a practical controller design that is simple and surprisingly robust, one that also guarantees convergence to small neighborhoods of desired equilibria or tracking errors that are as close to zero as desired. This methodology differs from current robust feedback controllers characterized by either complex matrix manipulations, complex parameter adaptation schemes and, in other cases, induced high frequency noises through the classical chattering phenomenon. The approach contains many of the cornerstones, or philosophical features, of Model Free Control and ADRC, while exploiting flatness and GPI control in an efficient manner for linear, nonlinear, mono-variable and multivariable systems, including those exhibiting inputs delays. The book contains successful experimental laboratory case studies of diverse engineering problems, especially those relating to mechanical, electro-mechanical, robotics, mobile robotics and power electronics systems. Provides an alternative way to solve disturbance rejection problems and robust control problem beyond the existing approaches based on matrix algebra and state observers. Generalizes the widely studied Extended State Observer to a class of observers called Generalized Proportional Integral Observers (GPI Observers). Contains successful experimental laboratory case studies.

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Sira-Ramírez H, Luviano-Juárez A, Ramírez-Neria M, Zurita-Bustamante EW. Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach. 2017. 34 p.