首页|Active disturbance rejection control of nonlinear SISO Lagrangian systems via endogenous injections and exogenous feedback for trajectory tracking

Active disturbance rejection control of nonlinear SISO Lagrangian systems via endogenous injections and exogenous feedback for trajectory tracking

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This article deals with a linear classical approach for the robust output reference trajectory tracking control of nonlinear SISO Lagrangian systems with a controllable(flat)tangent linearization around an operating equilibrium point.An endogenous injections and exogenous feedback(EIEF)approach is proposed,which is naturally equivalent to the generalized propor-tional integral control method and to a robust classical compensation network.It is shown that the EIEF controller is also equivalent,within a frequency domain setting demanding respect for the separation principle,to the reduced order observer based active disturbance rejection control approach.The proposed linear control approach is robust with respect to total dis-turbances and,thus,it is effective for the linear control of the nonlinear Lagrangian system.An illustrative nonlinear rotary crane Lagrangian system example,which is non-feedback linearizable,is presented along with digital computer simulations.

Active disturbance rejection controlLagrangian systemsRobust controlFlatness in Lagrangian systems

Hebertt Sira-Ramírez、Mario Andres Aguilar-Ordu?a、Brian C.Gómez-León

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Department of Electrical Engineering Mechatronics Section,Cinvestav-IPN,Av.IPN No.2508,Col.San Pedro Zacatenco,CP 07300 CDMX,Mexico

work of M.A.Aguilar-Ordu?a and B.C.Gómez-León was supported by Consejo Nacional de Ciencia y Tec-nología(CONACYT)Mexico undework of M.A.Aguilar-Ordu?a and B.C.Gómez-León was supported by Consejo Nacional de Ciencia y Tec-nología(CONACYT)Mexico undework of M.A.Aguilar-Ordu?a and B.C.Gómez-León was supported by Consejo Nacional de Ciencia y Tec-nología(CONACYT)Mexico unde

7028051039577respectively

2021

控制理论与技术(英文版)
华南理工大学

控制理论与技术(英文版)

CSCDEI
影响因子：0.307
ISSN：2095-6983
年,卷(期)：2021.19(1)
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