TY - GEN
T1 - Smith predictor based generalized PI control for a class of input delayed nonlinear mechanical systems
AU - Ramirez-Neria, M.
AU - Sira-Ramirez, H.
AU - Luviano-Juarez, A.
AU - Rodriguez-Angeles, A.
PY - 2013
Y1 - 2013
N2 - This article addresses the problem of Linear Active Disturbance Rejection Control for a class of nonlinear mechanical input time delayed systems. To solve the problem, it is necessary to obtain a set of predictive lumped disturbance estimations, which is carried out by a purely linear high gain observer of Extended Luenberger type, denoted as a Generalized Proportional Integral (GPI) Observer. This task is performed using an approximation of the predictive disturbance using a truncated Taylor series expansion, where the set of necessary values for the estimation are provided by the observer. Once the (approximate) disturbance canceling is made, the control task is reduced to a simple linear Smith Predictor PD control, using the simplified model of the mechanical system. Some experimental results show the effectiveness of the strategy in a trajectory tracking task for a perturbed flywheel.
AB - This article addresses the problem of Linear Active Disturbance Rejection Control for a class of nonlinear mechanical input time delayed systems. To solve the problem, it is necessary to obtain a set of predictive lumped disturbance estimations, which is carried out by a purely linear high gain observer of Extended Luenberger type, denoted as a Generalized Proportional Integral (GPI) Observer. This task is performed using an approximation of the predictive disturbance using a truncated Taylor series expansion, where the set of necessary values for the estimation are provided by the observer. Once the (approximate) disturbance canceling is made, the control task is reduced to a simple linear Smith Predictor PD control, using the simplified model of the mechanical system. Some experimental results show the effectiveness of the strategy in a trajectory tracking task for a perturbed flywheel.
UR - http://www.scopus.com/inward/record.url?scp=84893256951&partnerID=8YFLogxK
U2 - 10.23919/ecc.2013.6669596
DO - 10.23919/ecc.2013.6669596
M3 - Contribución a la conferencia
AN - SCOPUS:84893256951
SN - 9783033039629
T3 - 2013 European Control Conference, ECC 2013
SP - 1292
EP - 1297
BT - 2013 European Control Conference, ECC 2013
PB - IEEE Computer Society
T2 - 2013 12th European Control Conference, ECC 2013
Y2 - 17 July 2013 through 19 July 2013
ER -