Trajectory Tracking for an Inverted Pendulum on a Cart: An Active Disturbance Rejection Control Approach

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

doi:10.23919/acc.2018.8431712

Cited by 13 publications

(12 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The dynamics of the closed-loop tracking error of x and y are defined as follows:ė rx = H rx e rx (18) e ry = H ry e ry (19) with:…”

Section: Flatness-based Tracking Controlmentioning

confidence: 99%

“…The existence of ∆ x , ∆ y , η x and η y in a linearized obtained form represents an obstacle to ensure the convergence of the tracking error to zero. To deal with this problem, many researchers have proposed the Active Disturbance Rejection Control (ADRC) [18] as a solution. The principle of the ADRC approach is to estimate the effect of lumped uncertainties to the system by the extended state observer strategies and then compensate them.…”

Section: Uncertain Kinematic Modelmentioning

confidence: 99%

“…When substitutingė rx by equation (18) in equation 50, the derivate of the Lyapunov function V r1 is defined as follows:…”

Section: Guaranteed Tracking Controlmentioning

confidence: 99%

See 2 more Smart Citations

Guaranteed Tracking Controller for Wheeled Mobile Robot Based on Flatness and Interval Observer

Abadi

Mekki

Ramdani

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

View full text Add to dashboard Cite

This paper proposes a guaranteed tracking controller for a Wheeled Mobile Robot (WMR) based on the differential flatness theory and the interval observer. Using the flatness property, it is possible to transform the non linear WMR model into a canonical Brunovsky form, for which it is easier to create a state feedback controller. Since, in most real applications, the WMR is subjected to uncertainties such as slip, disturbance and noise, control algorithms must be modified to take into account those uncertainties. Therefore, based on the information of the upper and lower limits of the initial condition and all the uncertainties, an interval observer that generates an envelope enclosing every feasible state trajectory is developed. After that, based on the center of the obtained interval observer, a new control law is proposed to guarantee the tracking performance of the WMR despite the existence of un-measurable states and bounded uncertainties. The closedloop stability of the system is proven analytically using the Lyapunov theorem. A lot of numerical simulation is realized in order to demonstrate the efficiency of the suggested guaranteed tracking control scheme.

show abstract

“…The dynamics of the closed-loop tracking error of x and y are defined as follows:ė rx = H rx e rx (18) e ry = H ry e ry (19) with:…”

Section: Flatness-based Tracking Controlmentioning

confidence: 99%

Section: Uncertain Kinematic Modelmentioning

confidence: 99%

See 1 more Smart Citation

Guaranteed Tracking Controller for Wheeled Mobile Robot Based on Flatness and Interval Observer

Abadi

Mekki

Ramdani

2019

2019 IEEE 58th Conference on Decision and Control (CDC)

View full text Add to dashboard Cite

show abstract

“…This vision is even used to non-differentially flat systems, assuming that they present a linearisation control. Therefore, the advantage of the flatness and ADRC has been exploited to develop a robust tracking controller for the linear and non-linear system, including uncertain parameters and external disturbances like the land vehicle [20], the actuated-ankle-footorthosis [21] and the inverted pendulum [22]. In [23] a survey about combinations of flatness and ADRC was suggested.…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Abadi

Amraoui

Mekki

et al. 2020

IET Control Theory & Applications

View full text Add to dashboard Cite

“…Even though many interesting techniques and outcomes have been examined for such systems, but appropriate control of such systems is still a wide problem. 1…”

Section: Introductionmentioning

confidence: 99%

Model identification and real-time implementation of a linear parameter–varying control scheme on lab-based inverted pendulum system

Barkat

Hamayun

Ijaz

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

To research the tendencies of immediate change in the scheduled parameters, a linear parameter–varying control strategy is made in real time for lab-based inverted pendulum system. An adjusted and observing virtual instrument is designed in LabVIEW to construct this mechanism. To obtain the transient response data, a step response is transmitted by virtual instrument to the inverted pendulum by which model of inverted pendulum is identified. System model depicts its characteristics, so this model is employed in designing controller. To improve the performance and robustness, linear parameter–varying controller is created to deal with parameter distinctions. Furthermore, the effectiveness of this designed robust controller is checked by integrating on hardware system. The discovered model is checked by evaluating the presented approaches in real time and simulation outcomes with traditional controller as proportional–integral–derivative controller and linear–quadratic regulator.

show abstract

Trajectory Tracking for an Inverted Pendulum on a Cart: An Active Disturbance Rejection Control Approach

Cited by 13 publications

References 18 publications

Guaranteed Tracking Controller for Wheeled Mobile Robot Based on Flatness and Interval Observer

Guaranteed Tracking Controller for Wheeled Mobile Robot Based on Flatness and Interval Observer

Robust tracking control of quadrotor based on flatness and active disturbance rejection control

Model identification and real-time implementation of a linear parameter–varying control scheme on lab-based inverted pendulum system

Contact Info

Product

Resources

About