On the Linear Active Disturbance Rejection Control of the Inertia Wheel Pendulum

被引：0
|
作者：
Ramirez-Neria, M. [1 ]
Sira-Ramirez, H. [2 ]
Garrido-Moctezuma, R. [1 ]
Luviano-Juarez, A. [3 ]
机构：
[1] Automat Control Dept Cinvestav IPN, Apartado Postal 14740, Mexico City 07360, DF, Mexico
[2] Dept Cinvestav IPN, Mechatron Sect Elect Engn, Apartado Postal 14740, Mexico City 07360, DF, Mexico
[3] UPIITA IPN, Av IPN 2580 Col Barrio La Laguna, Ticoman, DF, Mexico
来源：
2015 AMERICAN CONTROL CONFERENCE (ACC) | 2015年
关键词：
SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article, an Active Disturbance Rejection Control (ADRC) scheme, using a Generalized PI disturbance observer based control is applied to the stabilization problem of the Inertia wheel pendulum. The control scheme assumes a limited knowledge of the underactuated system and relies on a simplified model regarded as a perturbed chain of two integrators with a stable zero dynamics. The control scheme is experimentally tested, showing good performance. A comparison study with respect to a linear control scheme is also carried out.
引用
收藏
页码：3398 / 3403
页数：6
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