On the Linear Control of a Dynamically Feedback Linearizable Rocket System: An ADRC Approach

This work illustrates the use of an Active Disturbance Rejection Control (ADRC) scheme for flat multivariable nonlinear systems. After a preliminary suitable dynamic extension of the system's control inputs, guided by the flatness property, we focus on the resulting input-output coupling matrix...

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Bibliographic Details
Published in:IFAC-PapersOnLine 2023-01, Vol.56 (2), p.4551-4556
Main Authors: Gómez-León, Brian C., Aguilar-Orduña, Mario A., Sira-Ramírez, Hebertt J., Garrido-Moctezuma, Ruben A.
Format: Article
Language:English
Subjects:
Active Disturbance Rejection Control
Differential Flatness
nonlinear MIMO systems
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Summary:This work illustrates the use of an Active Disturbance Rejection Control (ADRC) scheme for flat multivariable nonlinear systems. After a preliminary suitable dynamic extension of the system's control inputs, guided by the flatness property, we focus on the resulting input-output coupling matrix simplification that preserves the required closed-loop performance. A rather general methodology is presented that simplifies the severe nonlinearities commonly appearing in the dynamic feedback linearization control scheme; linear ADRC controllers are proposed to achieve robustness. Numerical simulations of a non-trivial rocket control example are presented; a clear simplification of the nonlinear dynamic feedback controller is achieved without compromising the performance of a rest-to-rest trajectory tracking task.
ISSN:2405-8963
2405-8963
DOI:10.1016/j.ifacol.2023.10.953