Active disturbance rejection control of nonlinear SISO Lagrangian systems via endogenous injections and exogenous feedback for trajectory tracking
Hebertt Sira-Ramírez
Mario Andres Aguilar-Orduña
Brian C.Gómez-León
Department of Electrical Engineering Mechatronics Section,Cinvestav-IPN,Av.IPN No.2508,Col.San Pedro Zacatenco,CP 07300 CDMX,Mexico
摘要：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.
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论文发表日期：2021-02-05
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：14( 113-126 )
英文信息