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| From flatness, GPI observers, GPI control and flat filters to observer-based ADRC |
| HeberttSIRA-RAMIREZ |
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| (CINVESTAVIPN, Department of Electrical Engineering, Mechatronics Section, Avenida IPN No. 2508, Col. San Pedro Zacatenco CP 07360, CDMX, Me′xico) |
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| 摘要: |
| In this article, we establish the route taken by the author, and his research group, to bring differential flatness to the realm
of active disturbance rejection control (ADRC). This avenue entitled: 1) generalized proportional integral observers (GPIO), as
natural state and disturbance observers for flat systems, 2) generalized proportional integral (GPI) control, provided with extra
integrations, to produce a modular controller known as flat filters (FF’s) and, finally, 3) the establishing of an equivalence of
observer based ADRC with FF’s. The context is that of pure integration systems. The obtained controllers depend only on the
order of the flat system and they are to be directly used on the basis of the available flat output signal in a universal, modular,
fashion. The map is complemented with the relevant references where the intermediate techniques were illustrated and developed,
over the years, in connection with laboratory experimental implementations. |
| 关键词: Flatness, GPI observers, GPI control, reduced order GPI observers, flat filters |
| DOI： |
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| 基金项目:This work was supported by CinvestavIPN. |
|
| From flatness, GPI observers, GPI control and flat filters to observer-based ADRC |
| Hebertt SIRA-RAMIREZ |
| (CINVESTAVIPN, Department of Electrical Engineering, Mechatronics Section, Avenida IPN No. 2508, Col. San Pedro Zacatenco CP 07360, CDMX, Me′xico) |
| Abstract: |
| In this article, we establish the route taken by the author, and his research group, to bring differential flatness to the realm
of active disturbance rejection control (ADRC). This avenue entitled: 1) generalized proportional integral observers (GPIO), as
natural state and disturbance observers for flat systems, 2) generalized proportional integral (GPI) control, provided with extra
integrations, to produce a modular controller known as flat filters (FF’s) and, finally, 3) the establishing of an equivalence of
observer based ADRC with FF’s. The context is that of pure integration systems. The obtained controllers depend only on the
order of the flat system and they are to be directly used on the basis of the available flat output signal in a universal, modular,
fashion. The map is complemented with the relevant references where the intermediate techniques were illustrated and developed,
over the years, in connection with laboratory experimental implementations. |
| Key words: Flatness, GPI observers, GPI control, reduced order GPI observers, flat filters |
