TY - GEN
T1 - Active disturbance rejection control of singular differentially flat systems
AU - Ramirez-Neria, M.
AU - Sira-Ramirez, H.
AU - Garrido-Moctezuma, R.
AU - Luviano-Juarez, A.
N1 - Publisher Copyright:
© 2015 The Society of Instrument and Control Engineers-SICE.
PY - 2015/9/30
Y1 - 2015/9/30
N2 - A possible limitation of differentially flat systems stems from the possibility of gain singularities on open or closed regions of the flat output phase space. The evasion of control gain singularity poses an important theoretical problem even under the scope of Active Disturbance Rejection Control. In this article, we illustrate an interesting example of controlling a singular flat system, the inertia wheel pendulum, using the combined benefits of ADR control and flatness as applied to a carefully chosen flat tangent linearization model of the singular system.
AB - A possible limitation of differentially flat systems stems from the possibility of gain singularities on open or closed regions of the flat output phase space. The evasion of control gain singularity poses an important theoretical problem even under the scope of Active Disturbance Rejection Control. In this article, we illustrate an interesting example of controlling a singular flat system, the inertia wheel pendulum, using the combined benefits of ADR control and flatness as applied to a carefully chosen flat tangent linearization model of the singular system.
UR - http://www.scopus.com/inward/record.url?scp=84960146123&partnerID=8YFLogxK
U2 - 10.1109/SICE.2015.7285476
DO - 10.1109/SICE.2015.7285476
M3 - Contribución a la conferencia
AN - SCOPUS:84960146123
T3 - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
SP - 554
EP - 559
BT - 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
Y2 - 28 July 2015 through 30 July 2015
ER -