Active disturbance rejection control of nonlinear SISO Lagrangian systems via endogenous injections and exogenous feedback for trajectory tracking

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...

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Bibliographic Details
Published in:Control theory and technology 2021-02, Vol.19 (1), p.113-126
Main Authors: Sira-Ramírez, Hebertt, Aguilar-Orduña, Mario Andres, Gómez-León, Brian C.
Format: Article
Language:English
Subjects:
Active control
Complexity
Computational Intelligence
Control
Control and Systems Theory
Control methods
Cranes
Digital computers
Engineering
Equivalence
Feedback
Linear control
Mechatronics
Nonlinear control
Optimization
Proportional integral
Rejection
Research Article
Robotics
Robust control
SISO (control systems)
Stability
Systems Theory
Tracking control
Trajectory control
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Summary: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 proportional 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 disturbances 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.
ISSN:2095-6983
2198-0942
DOI:10.1007/s11768-021-00033-3