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

作     者：Hebertt Sira-Ramírez Mario Andres Aguilar-Orduña Brian C.Góm ez-León Hebertt Sira-Ramírez;Mario Andres Aguilar-Ordu?a;Brian C.Gómez-León

作者机构：Department of Electrical Engineering Mechatronics SectionCinvestav-IPNAv.IPN No.2508Col.San Pedro ZacatencoCP 07300 CDMX.Mexico 

出 版 物：《Control Theory and Technology》 (控制理论与技术（英文版）)

年 卷 期：2021年第19卷第1期

页      面：113-126页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 081104[工学-模式识别与智能系统] 08[工学] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：The work of M.A.Aguilar-Orduia and B.C.Gomez-Leon was supported by Consejo Nacional de Ciencia y Tec-nologia(CONACYT)Mexico under Scholarship Grants no.702805 and no.1039577 respectively 

主　　题：Active disturbance rejection control Lagrangian systems Robust control Flatness in Lagrangian systems 

摘      要：This article deals with a linear classical approach for the robust output reference trajectory tracking control of nonlinear SISO Lagrangian systems with a controllable(fAat)tangent linearization around an operating equilibrium *** endogenous injections and exogenous feedback(EIEF)approach is proposed,which is naturally equivalent to the generalized propor-tional integral control method and to a robust classical compensation *** 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 *** proposed linear control approach is robust with respect to total dis-turbances and,thus,it is ffective for the linear control of the nonlinear Lagrangian *** ilustrative nonlinear rotary crane Lagrangian system example,which is non-feedback linearizable,is presented along with digital computer simulations.