On the linear Active Disturbance Rejection Control of the inertia wheel pendulum

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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

11 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationACC 2015 - 2015 American Control Conference
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3398-3403
Number of pages6
ISBN (Electronic)9781479986842
DOIs
StatePublished - 28 Jul 2015
Event2015 American Control Conference, ACC 2015 - Chicago, United States
Duration: 1 Jul 20153 Jul 2015

Publication series

NameProceedings of the American Control Conference
Volume2015-July
ISSN (Print)0743-1619

Conference

Conference2015 American Control Conference, ACC 2015
Country/TerritoryUnited States
CityChicago
Period1/07/153/07/15

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