title: Linear active disturbance rejection control of underactuated systems: the case of the Furuta pendulum.
abstract: An Active Disturbance Rejection Control (ADRC) scheme is proposed for a trajectory tracking problem defined on a nonfeedback linearizable Furuta Pendulum example. A desired rest to rest angular position reference trajectory is to be tracked by the horizontal arm while the unactuated vertical pendulum arm stays around its unstable vertical position without falling down during the entire maneuver and long after it concludes. A linear observer-based linear controller of the ADRC type is designed on the basis of the flat tangent linearization of the system around an arbitrary equilibrium. The advantageous combination of flatness and the ADRC method makes it possible to on-line estimate and cancels the undesirable effects of the higher order nonlinearities disregarded by the linearization. These effects are triggered by fast horizontal arm tracking maneuvers driving the pendulum substantially away from the initial equilibrium point. Convincing experimental results, including a comparative test with a sliding mode controller, are presented.
authors.affiliation: Centro de Investigación y de Estudios Avanzados del I.P.N. (Cinvestav-IPN), Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, C.P. 07360 México, D.F. Apartado Postal, 14-740, 07000 México, D.F., Mexico. Electronic address: mramirezn@ctrl.cinvestav.mx.
authors.forename: M
authors.initials: M
authors.lastname: Ramírez-Neria
authors.affiliation: Centro de Investigación y de Estudios Avanzados del I.P.N. (Cinvestav-IPN), Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, C.P. 07360 México, D.F. Apartado Postal, 14-740, 07000 México, D.F., Mexico. Electronic address: hsira@cinvestav.mx.
authors.forename: H
authors.initials: H
authors.lastname: Sira-Ramírez
authors.affiliation: Centro de Investigación y de Estudios Avanzados del I.P.N. (Cinvestav-IPN), Av. Instituto Politécnico Nacional 2508, Col. San Pedro Zacatenco, C.P. 07360 México, D.F. Apartado Postal, 14-740, 07000 México, D.F., Mexico. Electronic address: rgarrido@ctrl.cinvestav.mx.
authors.forename: R
authors.initials: R
authors.lastname: Garrido-Moctezuma
authors.affiliation: Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas IPN, Av. Instituto Politécnico Nacional 2580 Col. Barrio La Laguna Ticomán C.P. 07340México, D.F., Mexico. Electronic address: aluvianoj@ipn.mx.
authors.forename: A
authors.initials: A
authors.lastname: Luviano-Juárez
keywords: Active disturbance rejection control; Differentially flat systems; Furuta pendulum; GPI observers