Cover for Active Disturbance Rejection Control of Dynamic Systems

Active Disturbance Rejection Control of Dynamic Systems

A Flatness-Based Approach

Book2017

Authors:

Hebertt Sira-Ramírez, Alberto Luviano-Juárez, ... Eric William Zurita-Bustamante

Active Disturbance Rejection Control of Dynamic Systems

A Flatness-Based Approach

Book2017

 

Cover for Active Disturbance Rejection Control of Dynamic Systems

Authors:

Hebertt Sira-Ramírez, Alberto Luviano-Juárez, ... Eric William Zurita-Bustamante

About the book

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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 contro ... read full description

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  2. Book chapterAbstract only

    Chapter 1 - Introduction

    Pages 1-11

  3. Book chapterAbstract only

    Chapter 2 - Generalities of ADRC

    Pages 13-50

  4. Book chapterAbstract only

    Chapter 3 - Merging Flatness, GPI Observation, and GPI Control with ADRC

    Pages 51-107

  5. Book chapterAbstract only

    Chapter 4 - Extensions of ADRC

    Pages 109-172

  6. Book chapterAbstract only

    Chapter 5 - Case Studies

    Pages 173-234

  7. Book chapterAbstract only

    Chapter 6 - The Challenging Case of Underactuated Systems

    Pages 235-284

  8. Book chapterNo access

    Appendix A - Differential Flatness

    Pages 285-297

  9. Book chapterNo access

    Appendix B - Generalized Proportional Integral Control

    Pages 299-337

  10. Book chapterNo access

    Index

    Pages 339-340

About the book

Description

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.

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.

Key Features

  • Provides an alternative way to solve disturbance rejection problems and robust control problem beyond the existing approaches based on matrix algebra and state observers
  • Generalizes the widely studied Extended State Observer to a class of observers called Generalized Proportional Integral Observers (GPI Observers)
  • Contains successful experimental laboratory case studies
  • Provides an alternative way to solve disturbance rejection problems and robust control problem beyond the existing approaches based on matrix algebra and state observers
  • Generalizes the widely studied Extended State Observer to a class of observers called Generalized Proportional Integral Observers (GPI Observers)
  • Contains successful experimental laboratory case studies

Details

ISBN

978-0-12-849868-2

Language

English

Published

2017

Copyright

Copyright © 2017 Elsevier Inc. All rights reserved.

Imprint

Butterworth-Heinemann

Authors

Hebertt Sira-Ramírez

Alberto Luviano-Juárez

Mario Ramírez-Neria

Eric William Zurita-Bustamante