On the linear Active Disturbance Rejection Control of the inertia wheel pendulum | IEEE Conference Publication | IEEE Xplore

On the linear Active Disturbance Rejection Control of the inertia wheel pendulum


Abstract:

In this article, an Active Disturbance Rejection Control (ADRC) scheme, using a Generalized PI disturbance observer based control is applied to the stabilization problem ...Show More

Abstract:

In this article, an Active Disturbance Rejection Control (ADRC) scheme, using a Generalized PI disturbance observer based control is applied to the stabilization problem of the Inertia wheel pendulum. The control scheme assumes a limited knowledge of the underactuated system and relies on a simplified model regarded as a perturbed chain of two integrators with a stable zero dynamics. The control scheme is experimentally tested, showing good performance. A comparison study with respect to a linear control scheme is also carried out.
Date of Conference: 01-03 July 2015
Date Added to IEEE Xplore: 30 July 2015
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Conference Location: Chicago, IL, USA

References

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