Active Disturbance Rejection Control of Dynamic Systems. A Flatness-Based Approach

✍ Scribed by Hebertt Sira-Ramírez, Alberto Luviano-Juárez, Mario Ramírez-Neria and Eric William Zurita-Bustamante (Auth.)

• Publisher: Butterworth-Heinemann
• Year: 2017
• Tongue: English
• Leaves: 347
• Edition: 1st Edition
• Category: Library

✦ Synopsis

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.

✦ Table of Contents

Content:
Front Matter,Copyright,Dedication,About the Authors,Preface,AcknowledgmentsEntitled to full textChapter 1 - Introduction, Pages 1-11
Chapter 2 - Generalities of ADRC, Pages 13-50
Chapter 3 - Merging Flatness, GPI Observation, and GPI Control with ADRC, Pages 51-107
Chapter 4 - Extensions of ADRC, Pages 109-172
Chapter 5 - Case Studies, Pages 173-234
Chapter 6 - The Challenging Case of Underactuated Systems, Pages 235-284
Appendix A - Differential Flatness, Pages 285-297
Appendix B - Generalized Proportional Integral Control, Pages 299-337
Index, Pages 339-340

✦ Subjects

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