Linear active disturbance rejection control of underactuated systems: The case of the Furuta pendulum

Ramírez‐Neria, Mario; Sira‐Ramírez, Hebertt; Garrido-Moctezuma, R.; Luviano‐Juárez, Alberto

doi:10.1016/j.isatra.2013.09.023

Cited by 137 publications

(53 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…In 2014, Huang used the same method to convert a multiorder state space system [28]. In 2014, Ramírez-Neria utilized the decoupling property of the object model and decomposed it into the cascaded connection of two independent blocks [29]. (2) Some ADRC applications were limited to the control system with an implicit cascaded 2 Mathematical Problems in Engineering integral form, such as the differential equation, rational proper fraction, or state space form, as shown in [12,13,26,30].…”

Section: Introductionmentioning

confidence: 99%

An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure

Huang

Liu

et al. 2018

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The Active Disturbance Rejection Control (ADRC) prefers the cascaded integral system for a convenient design or better control effect and takes it as a typical form. However, the state variables of practical system do not necessarily have a cascaded integral relationship. Therefore, this paper proposes an algebraic substitution method and its structure, which can convert a noncascaded integral system of PID control into a cascaded integral form. The adjusting parameters of the ADRC controller are also demonstrated. Meanwhile, a numerical example and the oscillation control of a flexible arm are demonstrated to show the conversion, controller design, and control effect. The converted system is proved to be more suitable for a direct ADRC control. In addition, for the numerical example, its control effect for the converted system is compared with a PID controller under different disturbances. The result shows that the converted system can achieve a better control effect under the ADRC than that of a PID. The theory is a guide before practice. This converting method not only solves the ADRC control problem of some noncascaded integral systems in theory and simulation but also expands the application scope of the ADRC method.

show abstract

Section: Introductionmentioning

confidence: 99%

An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure

Huang

Liu

et al. 2018

Mathematical Problems in Engineering

View full text Add to dashboard Cite

show abstract

“…However, compared with the traditional ADRC method which is nonlinear, a linear active disturbance rejection control (LADRC) method has also been developed for controller design. The experiment results of [17,18,19,20,21] which used linear ADRC method all have achieved good results. In this paper, we clarify and analysis the structure differences, characteristic differences etc.…”

Section: Introductionmentioning

confidence: 93%

Comparison of linear and nonlinear active disturbance rejection control method for hypersonic vehicle

Gao

Wang

Yang

2016

2016 35th Chinese Control Conference (CCC)

View full text Add to dashboard Cite

This version is available at https://strathprints.strath.ac.uk/56894/ Strathprints is designed to allow users to access the research output of the University of Strathclyde. Unless otherwise explicitly stated on the manuscript, Copyright © and Moral Rights for the papers on this site are retained by the individual authors and/or other copyright owners. Please check the manuscript for details of any other licences that may have been applied. You may not engage in further distribution of the material for any profitmaking activities or any commercial gain. You may freely distribute both the url (https://strathprints.strath.ac.uk/) and the content of this paper for research or private study, educational, or not-for-profit purposes without prior permission or charge.Any correspondence concerning this service should be sent to the Strathprints administrator: strathprints@strath.ac.ukThe Strathprints institutional repository (https://strathprints.strath.ac.uk) is a digital archive of University of Strathclyde research outputs. It has been developed to disseminate open access research outputs, expose data about those outputs, and enable the management and persistent access to Strathclyde's intellectual output. Comparison of linear and nonlinear active disturbance rejection control method for hypersonic vehicle

show abstract

“…If a 1 (a 2 ) oṙa 1 (̇a 2 ) is bounded, the scope of a 1 (a 2 ) can be estimated by LESO1 (LESO2) with bounded estimation error [22]. If 1 and 2 are selected that make the observer dynamics faster than the system, for instance, 1 = (3 − 5) 1n and 2 = (3 − 5) 2n as suggested [24] z 11 , z 12 , z 13 , z 14 and z 15 , the states of the observer LESO1 whose input is F 1 and z 21 , z 22 and z 23 , the states of the observer LESO2 whose input is F 2 will track the states F 1 ,Ḟ 1 ,…”

Section: Stabilization Via Adrcmentioning

confidence: 99%

Stabilization and Tracking Control of X‐Z Inverted Pendulum Using Flatness Based Active Disturbance Rejection Control

Pan¹,

Wang²

2015

Asian Journal of Control

View full text Add to dashboard Cite

A flatness based robust active disturbance rejection control technique scheme with tracking differentiator is proposed for the problem of stabilization and tracking control of the X-Z inverted pendulum known as a special underactuated, non-feedback linearizable mechanical system. The differential parameterization on the basis of linearizing the system around an arbitrary equilibrium decouples the underactuated system into two lower order systems, resulting in two lower-order extended state observers. Using a tracking differentiator to arrange the transient process utilizes the problem of stabilization and tracking control and gives a relatively small initial estimation error, which enlarges the range of the controller parameters. The convincing analysis of the proposed modified linear extended state observer is presented to show its high effectiveness on estimating the states and the extended states known as the total disturbances consisting of the unknown external disturbances and the nonlinearities neglected by the linearization. Simulation results on the stabilization and tracking control of the X-Z inverted pendulum, including a comparative simulation with an all-state-feedback sliding mode controller are presented to show the advantages of the combination of flatness and active disturbance rejection control techniques.

show abstract

Linear active disturbance rejection control of underactuated systems: The case of the Furuta pendulum

Cited by 137 publications

References 30 publications

An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure

An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure

Comparison of linear and nonlinear active disturbance rejection control method for hypersonic vehicle

Stabilization and Tracking Control of X‐Z Inverted Pendulum Using Flatness Based Active Disturbance Rejection Control

Contact Info

Product

Resources

About