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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.