On the linear active disturbance rejection control of the Furuta pendulum

M. Ramírez-Neria, H. Sira-Ramírez, R. Garrido-Moctezuma, A. Luviano-Juarez

Research output: Contribution to conferencePaperResearch

10 Citations (Scopus)

Abstract

This article studies, an Active Disturbance Rejection Control scheme, using a Generalized PI disturbance observer based control applied to the stabilization problem of the Furuta pendulum. The control scheme assumes a limited knowledge of the system and uses a simplified model of the Furuta pendulum modeled as a disturbed chain of two integrators. The control scheme is experimentally tested, showing good performance. A comparison study with respect to a linear control scheme is also carried out. © 2014 American Automatic Control Council.
Original languageAmerican English
Pages317-322
Number of pages284
DOIs
StatePublished - 1 Jan 2014
EventProceedings of the American Control Conference -
Duration: 28 Jul 2016 → …

Conference

ConferenceProceedings of the American Control Conference
Period28/07/16 → …

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Disturbance rejection
pendulums
Pendulums
rejection
disturbances
automatic control
integrators
stabilization
Stabilization

Cite this

Ramírez-Neria, M., Sira-Ramírez, H., Garrido-Moctezuma, R., & Luviano-Juarez, A. (2014). On the linear active disturbance rejection control of the Furuta pendulum. 317-322. Paper presented at Proceedings of the American Control Conference, . https://doi.org/10.1109/ACC.2014.6859493
Ramírez-Neria, M. ; Sira-Ramírez, H. ; Garrido-Moctezuma, R. ; Luviano-Juarez, A. / On the linear active disturbance rejection control of the Furuta pendulum. Paper presented at Proceedings of the American Control Conference, .284 p.
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Ramírez-Neria, M, Sira-Ramírez, H, Garrido-Moctezuma, R & Luviano-Juarez, A 2014, 'On the linear active disturbance rejection control of the Furuta pendulum' Paper presented at Proceedings of the American Control Conference, 28/07/16, pp. 317-322. https://doi.org/10.1109/ACC.2014.6859493

On the linear active disturbance rejection control of the Furuta pendulum. / Ramírez-Neria, M.; Sira-Ramírez, H.; Garrido-Moctezuma, R.; Luviano-Juarez, A.

2014. 317-322 Paper presented at Proceedings of the American Control Conference, .

Research output: Contribution to conferencePaperResearch

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Ramírez-Neria M, Sira-Ramírez H, Garrido-Moctezuma R, Luviano-Juarez A. On the linear active disturbance rejection control of the Furuta pendulum. 2014. Paper presented at Proceedings of the American Control Conference, . https://doi.org/10.1109/ACC.2014.6859493