Ramírez-Neria M, Sira-Ramírez H, Garrido-Moctezuma R, Luviano-Juárez A
Centro de Investigación y de Estudios Avanzados del I.P.N. (Cinvestav-IPN), Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, C.P. 07360 México, D.F. Apartado Postal, 14-740, 07000 México, D.F., Mexico.
Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas IPN, Av. Instituto Politécnico Nacional 2580 Col. Barrio La Laguna Ticomán C.P. 07340México, D.F., Mexico.
ISA Trans. 2014 Jul;53(4):920-8. doi: 10.1016/j.isatra.2013.09.023. Epub 2013 Nov 16.
An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example. A desired rest to rest angular position reference trajectory is to be tracked by the horizontal arm while the unactuated vertical pendulum arm stays around its unstable vertical position without falling down during the entire maneuver and long after it concludes. A linear observer-based linear controller of the ADRC type is designed on the basis of the flat tangent linearization of the system around an arbitrary equilibrium. The advantageous combination of flatness and the ADRC method makes it possible to on-line estimate and cancels the undesirable effects of the higher order nonlinearities disregarded by the linearization. These effects are triggered by fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point. Convincing experimental results, including a comparative test with a sliding mode controller, are presented.
针对一个定义在非反馈线性化二连杆摆实例上的轨迹跟踪问题，提出了一种自抗扰控制（ADRC）方案。水平臂要跟踪期望的从静止到静止的角位置参考轨迹，而未驱动的垂直摆臂在整个操作过程中以及操作结束后的很长时间内，都要保持在其不稳定的垂直位置附近而不倒下。基于系统在任意平衡点附近的平坦切线性化，设计了一种基于线性观测器的ADRC型线性控制器。平坦性与ADRC方法的有利结合使得在线估计并消除线性化所忽略的高阶非线性的不良影响成为可能。这些影响是由快速的水平臂跟踪操作触发的，该操作使摆显著偏离初始平衡点。给出了令人信服的实验结果，包括与滑模控制器的对比测试。
