|Active Disturbance Rejection Control of the Inertia Wheel Pendulum through a Tangent Linearization Approach
M. Ramírez-Neria, H. Sira-Ramírez, R. Garrido-Moctezuma, and A. Luviano-Juárez*
International Journal of Control, Automation, and Systems, vol. 17, no. 1, pp.18-28, 2019
Abstract : "A flatness based approach is proposed for the linear Active Disturbance Rejection Control (ADRC) stabilization
of a nonlinear inertia wheel pendulum (IWP) around its unstable equilibrium point, subject to unmodelled
dynamics and disturbances. The approach exploits the cascade structure, provided by the flatness property, of the
tangent linearization of the underactuated system which allows designing a high gain linear cascaded Extended State
Observer (ESO) of the Generalized Proportional Integral (GPI) type. This class of linear observers is employed to
build an Active Disturbance Rejection Control controller with a lower order of complexity regarding other ADRC
classic schemes. Experimental results demonstrate the effectiveness and feasibility of the proposed approach, as
well as a better behavior with respect to a classic control technique in the presence of disturbances."
"Active disturbance rejection, extended state observers, flat systems, inertia wheel pendulum, underactuated systems."
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