TY - GEN
T1 - On the linear Active Disturbance Rejection Control of the inertia wheel pendulum
AU - Ramirez-Neria, M.
AU - Sira-Ramirez, H.
AU - Garrido-Moctezuma, R.
AU - Luviano-Juarez, A.
N1 - Publisher Copyright:
© 2015 American Automatic Control Council.
PY - 2015/7/28
Y1 - 2015/7/28
N2 - In this article, an Active Disturbance Rejection Control (ADRC) scheme, using a Generalized PI disturbance observer based control is applied to the stabilization problem of the Inertia wheel pendulum. The control scheme assumes a limited knowledge of the underactuated system and relies on a simplified model regarded as a perturbed chain of two integrators with a stable zero dynamics. The control scheme is experimentally tested, showing good performance. A comparison study with respect to a linear control scheme is also carried out.
AB - In this article, an Active Disturbance Rejection Control (ADRC) scheme, using a Generalized PI disturbance observer based control is applied to the stabilization problem of the Inertia wheel pendulum. The control scheme assumes a limited knowledge of the underactuated system and relies on a simplified model regarded as a perturbed chain of two integrators with a stable zero dynamics. The control scheme is experimentally tested, showing good performance. A comparison study with respect to a linear control scheme is also carried out.
UR - http://www.scopus.com/inward/record.url?scp=84940903154&partnerID=8YFLogxK
U2 - 10.1109/ACC.2015.7171857
DO - 10.1109/ACC.2015.7171857
M3 - Contribución a la conferencia
AN - SCOPUS:84940903154
T3 - Proceedings of the American Control Conference
SP - 3398
EP - 3403
BT - ACC 2015 - 2015 American Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 American Control Conference, ACC 2015
Y2 - 1 July 2015 through 3 July 2015
ER -