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Active Disturbance Rejection Control of the Inertia Wheel Pendulum through a Tangent Linearization Approach

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  • Control Theory and Applications
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Abstract

A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilization of a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelled dynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of the tangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended State Observer (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed to build an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRC classic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, as well as a better behavior with respect to a classic control technique in the presence of disturbances.

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Author information

Authors and Affiliations

  1. Universidad Tecnológica de México - UNITEC MEXICO - Campus Atizapán, Blvd. Calacoaya No.7 Col. La Ermita Atizapán, de Zaragoza México C.P., 52999, México

    Mario Ramírez-Neria

  2. Mechatronics Section of the Electrical Engineering Department of Cinvestav-IPN. Apartado postal 14740, México City C.P., 07360, México

    Hebertt Sira-Ramírez

  3. Departament of Cinvestav-IPN, México City, Apartado postal 14740, Mexico C.P., 07360, México

    Rubén Garrido-Moctezuma

  4. Instituto Politécnico Nacional - UPIITA Av. IPN 2580 Col. Barrio La Laguna Ticomán Mexico City, Mexico C.P., 07340, México

    Alberto Luviano-Juárez

Authors
  1. Mario Ramírez-Neria
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  2. Hebertt Sira-Ramírez
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  3. Rubén Garrido-Moctezuma
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  4. Alberto Luviano-Juárez
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Corresponding author

Correspondence to Alberto Luviano-Juárez.

Additional information

Recommended by Associate Editor Ding Zhai under the direction of Editor Jessie (Ju H.) Park. This article was supported by Conacyt-Mexico and SIP IPN under research grant 20181665.

Mario Ramírez-Neria received the B.S. degree in Mechatronics Engineering from the Professional Interdisciplinary Unit of Engineering and Advanced Technologies of the National Polytechnic Institute, Mexico City, Mexico, the M.S. degree in Electrical Engineering from the Mechatronics Section of the Electrical Engineering Department of CINVESTAV IPN, and the Ph.D. in Automatic Control from the Automatic Control Departament of CINVESTAV-IPN. Currently, he is with the department of mechatronics at Universidad Tecnológica de México Campus Atizapán. He is the author of 5 technical articles in refereed journals, has participated in 14 International Conferences and he is the coauthor of 1 book. His current research interest are applications of control theory, active disturbance rejection control and robotics.

Hebertt Sira-Ramírez received the degree of Electrical Engineer from the Universidad de Los Andes (ULA) in Mérida (Venezuela) in 1970. He obtained his M.Sc. in Electrical Engineering in 1974 and the Ph.D. in EE in 1977 all from the Massachusetts Institute of Technology (Cambrdige, Massachussetts, USA). He worked for 28 years at the ULA from where he is Retired Professor. Since 1998, he is a Titular Researcher in the Mechatronics Section of the Electrical Engineering Department of CINVESTAV-IPN in México City. He is the author of 163 technical articles in refereed journals, has written 31 book chapters, has participated in 271 International Conferences and he is the coauthor of 6 books. Dr. Sira-Ramírez is interested in the switched control of nonlinear systems. In particular, on the control of power electronics systems. He has been involved in the development of algebraic approaches to state and parameter estimation for the control of uncertain systems and active disturbance rejection control.

Rubén Garrido-Moctezuma received the B.Eng. degree in electrical engineering from the Escuela Superior de Ingeniería Mecánica y Eléctrica Instituto Politécnico Nacional, Mexico City, Mexico, in 1983, the M.Sc. degree in electrical engineering from the Center for Research and Advanced Studies of the National Polytechnic Institute (CINVESTAV-IPN), Mexico City, in 1987, and the Ph.D. degree from the Université de Technology de Compiègne, Compiègne, France, in 1993. He is currently a Professor with the Departamento de Control Automático, CINVESTAV-IPN. His research interests include robot control; parallel robots; visual servoing; parameter identification; electric, pneumatic, and hydraulic servomechanisms; adaptive control; and neural network control.

Alberto Luviano-Juárez received the B.S. degree in mechatronics engineering from the Instituto Politécnico Nacional, México, in 2003, the M.Sc. degree in Automatic Control from the Department of Automatic Control, Centro de Investigación y de Estudios Avanzados (CINVESTAV), del Instituto Politécnico Nacional (IPN), in 2006, and the Ph.D. degree in electrical engineering from the Mechatronics section, Departament of Electrical Engineering at CINVESTAV, IPN, in 2011. Since 2011, he has been with the Postgraduate and Research Section at Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, IPN. His research interests include robust estimation and control in mechatronic systems, robotics, and algebraic methods in the estimation and control of mechatronic systems.

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Ramírez-Neria, M., Sira-Ramírez, H., Garrido-Moctezuma, R. et al. Active Disturbance Rejection Control of the Inertia Wheel Pendulum through a Tangent Linearization Approach. Int. J. Control Autom. Syst. 17, 18–28 (2019). https://doi.org/10.1007/s12555-017-0428-0

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  • DOI: https://doi.org/10.1007/s12555-017-0428-0

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