In this article, the output reference trajectory tracking control of a non-differentially flat, underactuated, system is approached from the perspective of Active Disturbance Rejection Control (ADRC) including a suitable Extended State Observer (ESO). The class of underactuated systems, which are non-differentially flat, constitutes the most challenging area for testing the effectiveness of robust feedback control algorithms, specially under output trajectory tracking requirements. The problem, however, is substantially alleviated and feasibly approached provided the tangent linearization of the system is found to be controllable around an arbitrary equilibrium point. The flatness of the tangent system is taken advantage of for the design of an observer-based feedback controller taking the tangent system operation substantially far from the operating point. The ADRC scheme robustly takes efficient care of the excited (endogenous) nonlinearities, which were neglected in the linearization process, as well as any other external (exogenous) disturbances. Here, we take the gantry crane and its closely associated system: the inverted pendulum on a cart, as working laboratory examples to illustrate the effectiveness of the proposed approach.
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ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 6–9, 2017
Cleveland, Ohio, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5823-3
PROCEEDINGS PAPER
On the ADRC of Non-Differentially Flat, Underactuated, Nonlinear Systems: An Experimental Case Study
H. Sira-Ramírez
,
H. Sira-Ramírez
CINVESTAV-IPN, México City, México
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E. W. Zurita-Bustamante
,
E. W. Zurita-Bustamante
CINVESTAV-IPN, México City, México
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E. Hernández-Flores
E. Hernández-Flores
CINVESTAV-IPN, México City, México
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H. Sira-Ramírez
CINVESTAV-IPN, México City, México
E. W. Zurita-Bustamante
CINVESTAV-IPN, México City, México
E. Hernández-Flores
CINVESTAV-IPN, México City, México
Paper No:
DETC2017-67126, V009T07A014; 8 pages
Published Online:
November 3, 2017
Citation
Sira-Ramírez, H, Zurita-Bustamante, EW, & Hernández-Flores, E. "On the ADRC of Non-Differentially Flat, Underactuated, Nonlinear Systems: An Experimental Case Study." Proceedings of the ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 9: 13th ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications. Cleveland, Ohio, USA. August 6–9, 2017. V009T07A014. ASME. https://doi.org/10.1115/DETC2017-67126
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