TY - GEN
T1 - Trajectory Tracking for an Inverted Pendulum on a Cart
T2 - 2018 Annual American Control Conference, ACC 2018
AU - Ramirez-Neria, M.
AU - Gao, Z.
AU - Sira-Ramirez, H.
AU - Garrido-Moctezuma, R.
AU - Luviano-Juarez, A.
N1 - Publisher Copyright:
© 2018 AACC.
PY - 2018/8/9
Y1 - 2018/8/9
N2 - In this article, an Active Disturbance Rejection Control (ADRC) scheme is tested on a non-differentially flat system, with controllable linearization, to solve the problem of trajectory tracking for the inverted pendulum on a cart. Differential Flatness allows to design a control law that simultaneously achieves the trajectory tracking for the cart while regulating the inverted pendulum so that it remains near the unstable equilibrium point in spite of large perturbations. The proposed method assumes a limited knowledge of the system and relies on linear disturbance observation using linear feedback control techniques. Internal and external disturbance inputs are estimated by an Extended State Observers (ESO), which delivers these estimates to the controller for an on-line disturbance cancellation. Experiments on a laboratory prototype allowed to evaluate the proposed scheme with effective results in the presence of external disturbances.
AB - In this article, an Active Disturbance Rejection Control (ADRC) scheme is tested on a non-differentially flat system, with controllable linearization, to solve the problem of trajectory tracking for the inverted pendulum on a cart. Differential Flatness allows to design a control law that simultaneously achieves the trajectory tracking for the cart while regulating the inverted pendulum so that it remains near the unstable equilibrium point in spite of large perturbations. The proposed method assumes a limited knowledge of the system and relies on linear disturbance observation using linear feedback control techniques. Internal and external disturbance inputs are estimated by an Extended State Observers (ESO), which delivers these estimates to the controller for an on-line disturbance cancellation. Experiments on a laboratory prototype allowed to evaluate the proposed scheme with effective results in the presence of external disturbances.
UR - http://www.scopus.com/inward/record.url?scp=85052596845&partnerID=8YFLogxK
U2 - 10.23919/ACC.2018.8431712
DO - 10.23919/ACC.2018.8431712
M3 - Contribución a la conferencia
AN - SCOPUS:85052596845
SN - 9781538654286
T3 - Proceedings of the American Control Conference
SP - 4881
EP - 4886
BT - 2018 Annual American Control Conference, ACC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 27 June 2018 through 29 June 2018
ER -