Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope

Juan E. Andrade García; Alejandra Ferreira de Loza; Luis T. Aguilar; Ramón I. Verdés

doi:10.1016/j.ifacol.2018.07.307

Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope

Juan E. Andrade García, Alejandra Ferreira de Loza, Luis T. Aguilar, Ramón I. Verdés

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

This paper deals with the active disturbance rejection problem for a three degrees of freedom gyroscope. The goal is to design a robust tracking controller for the underactuated coordinate. A nonlinear model of the gyroscope, affected by matched and unmatched disturbances, is first obtained. Then, a high order sliding mode observer (HOSMO) estimates, theoretically in finite time, the disturbance signals. Such information is thus injected into the tracking controller to counteract the disturbances effect on the gyroscope dynamics. Stability of the closed-loop observer-controller system is analyzed through Lyapunov theory. Simulation results show the effectiveness of the proposed method.

Original language	English
Pages (from-to)	372-377
Number of pages	6
Journal	2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
Volume	51
Issue number	13
DOIs	https://doi.org/10.1016/j.ifacol.2018.07.307
State	Published - 1 Jan 2018
Externally published	Yes

Keywords

3DOF Gyroscope
Lyapunov stability
disturbance rejection
high-order sliding modes

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10.1016/j.ifacol.2018.07.307

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title = "Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope",

abstract = "This paper deals with the active disturbance rejection problem for a three degrees of freedom gyroscope. The goal is to design a robust tracking controller for the underactuated coordinate. A nonlinear model of the gyroscope, affected by matched and unmatched disturbances, is first obtained. Then, a high order sliding mode observer (HOSMO) estimates, theoretically in finite time, the disturbance signals. Such information is thus injected into the tracking controller to counteract the disturbances effect on the gyroscope dynamics. Stability of the closed-loop observer-controller system is analyzed through Lyapunov theory. Simulation results show the effectiveness of the proposed method.",

keywords = "3DOF Gyroscope, Lyapunov stability, disturbance rejection, high-order sliding modes",

author = "{Andrade Garc{\'i}a}, {Juan E.} and {de Loza}, {Alejandra Ferreira} and Aguilar, {Luis T.} and Verd{\'e}s, {Ram{\'o}n I.}",

note = "Publisher Copyright: {\textcopyright} 2018",

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doi = "10.1016/j.ifacol.2018.07.307",

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Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope. / Andrade García, Juan E.; de Loza, Alejandra Ferreira ; Aguilar, Luis T. et al.
In: 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018, Vol. 51, No. 13, 01.01.2018, p. 372-377.

Research output: Contribution to journal › Article › peer-review

TY - JOUR

T1 - Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope

AU - Andrade García, Juan E.

AU - de Loza, Alejandra Ferreira

AU - Aguilar, Luis T.

AU - Verdés, Ramón I.

PY - 2018/1/1

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N2 - This paper deals with the active disturbance rejection problem for a three degrees of freedom gyroscope. The goal is to design a robust tracking controller for the underactuated coordinate. A nonlinear model of the gyroscope, affected by matched and unmatched disturbances, is first obtained. Then, a high order sliding mode observer (HOSMO) estimates, theoretically in finite time, the disturbance signals. Such information is thus injected into the tracking controller to counteract the disturbances effect on the gyroscope dynamics. Stability of the closed-loop observer-controller system is analyzed through Lyapunov theory. Simulation results show the effectiveness of the proposed method.

AB - This paper deals with the active disturbance rejection problem for a three degrees of freedom gyroscope. The goal is to design a robust tracking controller for the underactuated coordinate. A nonlinear model of the gyroscope, affected by matched and unmatched disturbances, is first obtained. Then, a high order sliding mode observer (HOSMO) estimates, theoretically in finite time, the disturbance signals. Such information is thus injected into the tracking controller to counteract the disturbances effect on the gyroscope dynamics. Stability of the closed-loop observer-controller system is analyzed through Lyapunov theory. Simulation results show the effectiveness of the proposed method.

KW - 3DOF Gyroscope

KW - Lyapunov stability

KW - disturbance rejection

KW - high-order sliding modes

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DO - 10.1016/j.ifacol.2018.07.307

M3 - Artículo

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SP - 372

EP - 377

JO - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018

JF - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018

IS - 13

ER -

Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope

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Keywords

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