TY - JOUR
T1 - Active Disturbance Rejection for a Three Degrees of Freedom Gyroscope
AU - Andrade García, Juan E.
AU - de Loza, Alejandra Ferreira
AU - Aguilar, Luis T.
AU - Verdés, Ramón I.
N1 - Publisher Copyright:
© 2018
PY - 2018/1/1
Y1 - 2018/1/1
N2 - This paper deals with the active disturbance rejection problem for a three degrees of freedom gyroscope. The goal is to design a robust tracking controller for the underactuated coordinate. A nonlinear model of the gyroscope, affected by matched and unmatched disturbances, is first obtained. Then, a high order sliding mode observer (HOSMO) estimates, theoretically in finite time, the disturbance signals. Such information is thus injected into the tracking controller to counteract the disturbances effect on the gyroscope dynamics. Stability of the closed-loop observer-controller system is analyzed through Lyapunov theory. Simulation results show the effectiveness of the proposed method.
AB - This paper deals with the active disturbance rejection problem for a three degrees of freedom gyroscope. The goal is to design a robust tracking controller for the underactuated coordinate. A nonlinear model of the gyroscope, affected by matched and unmatched disturbances, is first obtained. Then, a high order sliding mode observer (HOSMO) estimates, theoretically in finite time, the disturbance signals. Such information is thus injected into the tracking controller to counteract the disturbances effect on the gyroscope dynamics. Stability of the closed-loop observer-controller system is analyzed through Lyapunov theory. Simulation results show the effectiveness of the proposed method.
KW - 3DOF Gyroscope
KW - Lyapunov stability
KW - disturbance rejection
KW - high-order sliding modes
UR - http://www.scopus.com/inward/record.url?scp=85052626251&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2018.07.307
DO - 10.1016/j.ifacol.2018.07.307
M3 - Artículo
SN - 2405-8963
VL - 51
SP - 372
EP - 377
JO - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
JF - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
IS - 13
ER -