A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System
Joint Authors
Suárez-Castañón, Miguel S.
Sira-Ramirez, H.
Aguilar-Ibáñez, Carlos F.
Source
Mathematical Problems in Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-11-24
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper proposes an application of linear flatness control along with active disturbance rejection control (ADRC) for the local stabilization and trajectory tracking problems in the underactuated ball and rigid triangle system.
To this end, an observer-based linear controller of the ADRC type is designed based on the flat tangent linearization of the system around its corresponding unstable equilibrium rest position.
It was accomplished through two decoupled linear extended observers and a single linear output feedback controller, with disturbance cancelation features.
The controller guarantees locally exponentially asymptotic stability for the stabilization problem and practical local stability in the solution of the tracking error.
An advantage of combining the flatness and the ADRC methods is that it possible to perform online estimates and cancels the undesirable effects of the higher-order nonlinearities discarded by the linearization approximation.
Simulation indicates that the proposed controller behaves remarkably well, having an acceptable domain of attraction.
American Psychological Association (APA)
Aguilar-Ibáñez, Carlos F.& Sira-Ramirez, H.& Suárez-Castañón, Miguel S.. 2016. A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System. Mathematical Problems in Engineering،Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1111710
Modern Language Association (MLA)
Aguilar-Ibáñez, Carlos F.…[et al.]. A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System. Mathematical Problems in Engineering No. 2016 (2016), pp.1-11.
https://search.emarefa.net/detail/BIM-1111710
American Medical Association (AMA)
Aguilar-Ibáñez, Carlos F.& Sira-Ramirez, H.& Suárez-Castañón, Miguel S.. A Linear Active Disturbance Rejection Control for a Ball and Rigid Triangle System. Mathematical Problems in Engineering. 2016. Vol. 2016, no. 2016, pp.1-11.
https://search.emarefa.net/detail/BIM-1111710
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1111710