Active Disturbance Rejection Control of the Inertia Wheel Pendulum through a Tangent Linearization Approach

Mario Ramírez-Neria, Hebertt Sira-Ramírez, Rubén Garrido-Moctezuma, Alberto Luviano-Juárez

Research output: Contribution to journalArticleResearchpeer-review

Abstract

© 2019, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelled dynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of the tangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended State Observer (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed to build an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRC classic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, as well as a better behavior with respect to a classic control technique in the presence of disturbances.
Original languageAmerican English
Pages (from-to)18-28
Number of pages15
JournalInternational Journal of Control, Automation and Systems
DOIs
StatePublished - 1 Jan 2019

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Disturbance rejection
Pendulums
Linearization
Wheels
Robotics
Stabilization
Engineers
Controllers

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title = "Active Disturbance Rejection Control of the Inertia Wheel Pendulum through a Tangent Linearization Approach",
abstract = "{\circledC} 2019, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelled dynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of the tangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended State Observer (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed to build an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRC classic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, as well as a better behavior with respect to a classic control technique in the presence of disturbances.",
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Active Disturbance Rejection Control of the Inertia Wheel Pendulum through a Tangent Linearization Approach. / Ramírez-Neria, Mario; Sira-Ramírez, Hebertt; Garrido-Moctezuma, Rubén; Luviano-Juárez, Alberto.

In: International Journal of Control, Automation and Systems, 01.01.2019, p. 18-28.

Research output: Contribution to journalArticleResearchpeer-review

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N2 - © 2019, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelled dynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of the tangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended State Observer (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed to build an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRC classic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, as well as a better behavior with respect to a classic control technique in the presence of disturbances.

AB - © 2019, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature. A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelled dynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of the tangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended State Observer (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed to build an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRC classic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, as well as a better behavior with respect to a classic control technique in the presence of disturbances.

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