Flat filtering cascade control of fourth order systems

M. Ramírez-Neria; A. Luviano-Juarez; N. Lozada-Castillo; G. Ochoa-Ortega; H. Sira-Ramirez

doi:10.1016/j.ifacol.2020.12.2134

Flat filtering cascade control of fourth order systems

M. Ramírez-Neria, A. Luviano-Juarez, N. Lozada-Castillo, G. Ochoa-Ortega, H. Sira-Ramirez

Unidad Profesional Interdisciplinaria de Ingeniería y Tecnologías Avanzadas (UPIITA)

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this article, the analysis and implementation of an alternative Flat Filtering Control for a class of partially known fourth order flat systems is given. The Flat filtering control uses the cascade property of the system, which leads to a simplified control design in which high order time derivatives are algebraically simplified in terms of low order measurable states and the subsequent integral compensation. The control proposal is implemented and validated experimentally in a fourth order mechanical system (rotatory flexible joint) with accurate tracking results.

Original language	English
Pages (from-to)	9068-9073
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.2134
State	Published - 2020
Event	21st IFAC World Congress 2020 - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020

Keywords

ADRC
Disturbance rejection
Flat filtering
Rotary flexible joint
Under-actuated system

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10.1016/j.ifacol.2020.12.2134

Cite this

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title = "Flat filtering cascade control of fourth order systems",

abstract = "In this article, the analysis and implementation of an alternative Flat Filtering Control for a class of partially known fourth order flat systems is given. The Flat filtering control uses the cascade property of the system, which leads to a simplified control design in which high order time derivatives are algebraically simplified in terms of low order measurable states and the subsequent integral compensation. The control proposal is implemented and validated experimentally in a fourth order mechanical system (rotatory flexible joint) with accurate tracking results.",

keywords = "ADRC, Disturbance rejection, Flat filtering, Rotary flexible joint, Under-actuated system",

author = "M. Ram{\'i}rez-Neria and A. Luviano-Juarez and N. Lozada-Castillo and G. Ochoa-Ortega and H. Sira-Ramirez",

note = "Publisher Copyright: Copyright {\textcopyright} 2020 The Authors. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0); 21st IFAC World Congress 2020 ; Conference date: 12-07-2020 Through 17-07-2020",

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doi = "10.1016/j.ifacol.2020.12.2134",

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TY - JOUR

T1 - Flat filtering cascade control of fourth order systems

AU - Ramírez-Neria, M.

AU - Luviano-Juarez, A.

AU - Lozada-Castillo, N.

AU - Ochoa-Ortega, G.

AU - Sira-Ramirez, H.

PY - 2020

Y1 - 2020

N2 - In this article, the analysis and implementation of an alternative Flat Filtering Control for a class of partially known fourth order flat systems is given. The Flat filtering control uses the cascade property of the system, which leads to a simplified control design in which high order time derivatives are algebraically simplified in terms of low order measurable states and the subsequent integral compensation. The control proposal is implemented and validated experimentally in a fourth order mechanical system (rotatory flexible joint) with accurate tracking results.

AB - In this article, the analysis and implementation of an alternative Flat Filtering Control for a class of partially known fourth order flat systems is given. The Flat filtering control uses the cascade property of the system, which leads to a simplified control design in which high order time derivatives are algebraically simplified in terms of low order measurable states and the subsequent integral compensation. The control proposal is implemented and validated experimentally in a fourth order mechanical system (rotatory flexible joint) with accurate tracking results.

KW - ADRC

KW - Disturbance rejection

KW - Flat filtering

KW - Rotary flexible joint

KW - Under-actuated system

UR - http://www.scopus.com/inward/record.url?scp=85107685798&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2020.12.2134

DO - 10.1016/j.ifacol.2020.12.2134

M3 - Artículo de la conferencia

AN - SCOPUS:85107685798

SN - 1474-6670

VL - 53

SP - 9068

EP - 9073

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

T2 - 21st IFAC World Congress 2020

Y2 - 12 July 2020 through 17 July 2020

ER -

Flat filtering cascade control of fourth order systems

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Keywords

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