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Mario Ramírez-Neria,Hebertt Sira-Ramírez,Rubén Garrido-Moctezuma,Alberto Luviano-Juárez 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.1
A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilizationof a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelleddynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of thetangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended StateObserver (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed tobuild an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRCclassic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, aswell as a better behavior with respect to a classic control technique in the presence of disturbances.
Yair Lozano Hernández,Octavio Gutiérrez Frías,Norma Lozada-Castillo,Alberto Luviano Juárez 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.9
This paper presents a control algorithm for the taking off and landing manoeuvres of a quadrotor aircraft in open navigation environments. For this purpose, a combination of controllers based on nested saturations and a generalised proportional integral (GPI) controller is used. The first controller limits both the angular positions and angular velocities in a small compact set, which defines the closed-loop stability domain and guarantees the total convergence of the state, whereas the second is designed for the translational aspect, considering the presence of disturbances during landing. The proposed controller is designed considering the presence of disturbances; therefore, greater robustness is obtained regarding perturbations that may occur in open navigation environments. The algorithm convergence is proven by means of Lyapunov’s second method. Several numerical simulations are presented to demonstrate the effectiveness of our proposed algorithm, and a comparison test against an effective method for indoor environments is provided to illustrate its superior performance.