Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ACC.2015.7171857 | advances in computing and communications |
Keywords | Field | DocType |
polynomials,mathematical model | Polynomial,Control theory,Inertia wheel pendulum,Integrator,Active disturbance rejection control,Control engineering,Observer (quantum physics),Underactuation,Linear control,Mathematics | Conference |
ISSN | ISBN | Citations |
0743-1619 | 978-1-4799-8685-9 | 3 |
PageRank | References | Authors |
0.42 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ramirez-Neria, M. | 1 | 3 | 0.76 |
| Hebertt Sira-Ramirez | 2 | 100 | 23.28 |
| Rubén Alejandro Garrido-Moctezuma | 3 | 3 | 0.42 |
| Alberto Luviano-juárez | 4 | 40 | 9.41 |
| Mario Ramirez-Neria | 5 | 4 | 3.50 |