Active Disturbance Rejection Control of Dynamic Systems

Informationen zum Autor He obtained his Electrical Engineering degree in 1970 from the University of Los Andes (Merida, Venezuela). He completed his postgraduate studies at the Massachusetts Institute of Technology (Cambridge, Mass. USA) in 1974 where he held together, the titles of Master of Science in Electrical Engineer and Electrical Engineer. In 1977 he received a Doctorate (PhD) in Electrical Engineering from the Institute. Held the posts of Head of Control Systems from 1978 to 1980, the Administrative Vice Chancellor of University of the Andes during the period 1980-1984 and Head of the Graduate Faculty of Automatic Control Engineering 1992-1993. Klappentext Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach describes the linear control of uncertain nonlinear systems. The net result is a practical controller design that is simple and surprisingly robust, one that also guarantees convergence to small neighborhoods of desired equilibria or tracking errors that are as close to zero as desired. This methodology differs from current robust feedback controllers characterized by either complex matrix manipulations, complex parameter adaptation schemes and, in other cases, induced high frequency noises through the classical chattering phenomenon. The approach contains many of the cornerstones, or philosophical features, of Model Free Control and ADRC, while exploiting flatness and GPI control in an efficient manner for linear, nonlinear, mono-variable and multivariable systems, including those exhibiting inputs delays. The book contains successful experimental laboratory case studies of diverse engineering problems, especially those relating to mechanical, electro-mechanical, robotics, mobile robotics and power electronics systems. Inhaltsverzeichnis 1. Introduction 1.1 A Brief Historical Perspective on Active Disturbance Rejection Control References 2. Generalities of ADRC 2.1 Introduction 2.2 Main Theoretical Issues 2.3 The Need for Flatness-Based ADRC Designs 2.4 Ultralocal Disturbance Models References 3. Merging Flatness, GPI Observation and GPI Control with ADRC 3.1 Introduction 3.2 GPI Extended State Observer Design 3.3 An Observer-Based Approach to GPI Perturbation Rejection 3.4 The Buck Converter 3.5 Example: A Pendulum System 3.6 Two-Link Robot Manipulator 3.7 Nonholonomic Wheeled Car 3.8 Two-Mass Rectilinear Mechanism 3.9 Remarks References 4. Extensions of ADRC 4.1 Introduction 4.2 Integral Reconstructors of MIMO Linear Systems 4.3 A Lyapunov Approach for a Class of Nonlinear Multivariable Systems 4.4 Combined Sliding-Mode-ADRC Controllers 4.5 ADRC and Sampled Systems: The Delta Operator Approach 4.6 Control of Time Delay Systems 4.7 Relations With Model-Free Control 4.8 Fractional-Order Systems References 5. Case Studies 5.1 Introduction 5.2 A Two-Degree-of-Freedom Robotic Arm 5.3 An Omnidirectional Robot 5.4 A Single-Link Manipulator Driven by a Synchronous Motor 5.5 Nonlinear Pendulum System 5.6 The Thomson Ring 5.7 Trajectory Tracking Control of a Delta Robot 5.8 A Time-Delayed Flywheel System 5.9 Control of Robot Manipulators with Delayed Inputs References 6. The Challenging Case of Underactuated Systems 6.1 Introduction 6.2 Controlling the Pendubot via Tangent Linearization 6.3 A Two-Mass Spring System with an Inverted Pendulum 6.4 Double Inverted Pendulum on a Cart 6.5 The Furuta Pendulum 6.6 The Ball-and-Beam System 6.7 Remarks References A. Differential Flatness A.1 Definition of Flatness A.2 Illustrative Examples A.3 About the Advantages and Disadvantages of Flatness A.4 Differential Flatness and Uncertainty Refere...

Klappentext

Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach describes the linear control of uncertain nonlinear systems. The net result is a practical controller design that is simple and surprisingly robust, one that also guarantees convergence to small neighborhoods of desired equilibria or tracking errors that are as close to zero as desired.

This methodology differs from current robust feedback controllers characterized by either complex matrix manipulations, complex parameter adaptation schemes and, in other cases, induced high frequency noises through the classical chattering phenomenon.

The approach contains many of the cornerstones, or philosophical features, of Model Free Control and ADRC, while exploiting flatness and GPI control in an efficient manner for linear, nonlinear, mono-variable and multivariable systems, including those exhibiting inputs delays.

The book contains successful experimental laboratory case studies of diverse engineering problems, especially those relating to mechanical, electro-mechanical, robotics, mobile robotics and power electronics systems.

Inhalt

1. Introduction
   1.1 A Brief Historical Perspective on Active Disturbance Rejection Control
   References
   
   2. Generalities of ADRC
      2.1 Introduction
      2.2 Main Theoretical Issues
      2.3 The Need for Flatness-Based ADRC Designs
      2.4 Ultralocal Disturbance Models
      References
   3. Merging Flatness, GPI Observation and GPI Control with ADRC
      3.1 Introduction
      3.2 GPI Extended State Observer Design
      3.3 An Observer-Based Approach to GPI Perturbation Rejection
      3.4 The Buck Converter
      3.5 Example: A Pendulum System
      3.6 Two-Link Robot Manipulator
      3.7 Nonholonomic Wheeled Car
      3.8 Two-Mass Rectilinear Mechanism
      3.9 Remarks
      References
   4. Extensions of ADRC
      4.1 Introduction
      4.2 Integral Reconstructors of MIMO Linear Systems
      4.3 A Lyapunov Approach for a Class of Nonlinear Multivariable Systems
      4.4 Combined Sliding-Mode-ADRC Controllers
      4.5 ADRC and Sampled Systems: The Delta Operator Approach
      4.6 Control of Time Delay Systems
      4.7 Relations With Model-Free Control
      4.8 Fractional-Order Systems
      References
   5. Case Studies
      5.1 Introduction
      5.2 A Two-Degree-of-Freedom Robotic Arm
      5.3 An Omnidirectional Robot
      5.4 A Single-Link Manipulator Driven by a Synchronous Motor
      5.5 Nonlinear Pendulum System
      5.6 The Thomson Ring
      5.7 Trajectory Tracking Control of a Delta Robot
      5.8 A Time-Delayed Flywheel System
      5.9 Control of Robot Manipulators with Delayed Inputs
      References
   6. The Challenging Case of Underactuated Systems
      6.1 Introduction
      6.2 Controlling the Pendubot via Tangent Linearization
      6.3 A Two-Mass Spring System with an Inverted Pendulum
      6.4 Double Inverted Pendulum on a Cart
      6.5 The Furuta Pendulum
      6.6 The Ball-and-Beam System
      6.7 Remarks
      References
      A. Differential Flatness
      A.1 Definition of Flatness
      A.2 Illustrative Examples
      A.3 About the Advantages and Disadvantages of Flatness
      A.4 Differential Flatness and Uncertainty
      References
      B. Generalized Proportional Integral Control
      B.1 Definitions and Generalities
      B.2 Generalized Proportional Integral Control and Classical Compensation Networks
      B.3 An Illustrative Application Example
      B.4 GPI Control for Discrete-Time Systems
      B.5 A General Result for Multivariable Linear Systems
      References
      Index