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| Active disturbance rejection control of nonlinear SISO Lagrangian systems via endogenous injections and exogenous feedback for trajectory tracking |
| HeberttSira‑Ramírez,MarioAndresAguilar‑Orduña,BrianC.Gómez‑León |
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| (Department of Electrical Engineering Mechatronics Section, Cinvestav-IPN, Av. IPN No. 2508, Col. San Pedro Zacatenco, CP 07300 CDMX, Mexico;Department of Electrical Engineering Mechatronics Section, Cinvestav-IPN, Av. IPN No. 2508, Col. San Pedro Zacatenco, CP 07301 CDMX, Mexico;Department of Electrical Engineering Mechatronics Section, Cinvestav-IPN, Av. IPN No. 2508, Col. San Pedro Zacatenco, CP 07302 CDMX, Mexico) |
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| DOI：https://doi.org/10.1007/s11768-021-00033-3 |
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| 基金项目:The work of M. A. Aguilar-Ordu?a and B. C. Gómez-León was supported by Consejo Nacional de Ciencia y Tecnología (CONACYT) Mexico under Scholarship Grants no. 702805 and no. 1039577, respectively. |
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| Active disturbance rejection control of nonlinear SISO Lagrangian systems via endogenous injections and exogenous feedback for trajectory tracking |
| Hebertt Sira‑Ramírez,Mario Andres Aguilar‑Orduña,Brian C. Gómez‑León |
| (Department of Electrical Engineering Mechatronics Section, Cinvestav-IPN, Av. IPN No. 2508, Col. San Pedro Zacatenco, CP 07300 CDMX, Mexico;Department of Electrical Engineering Mechatronics Section, Cinvestav-IPN, Av. IPN No. 2508, Col. San Pedro Zacatenco, CP 07301 CDMX, Mexico;Department of Electrical Engineering Mechatronics Section, Cinvestav-IPN, Av. IPN No. 2508, Col. San Pedro Zacatenco, CP 07302 CDMX, Mexico) |
| Abstract: |
| This article deals with a linear classical approach for the robust output reference trajectory tracking control of nonlinear SISO Lagrangian systems with a controllable (fat) 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 efective 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. |
| Key words: Active disturbance rejection control · Lagrangian systems · Robust control · Flatness in Lagrangian systems |
