Implementation of Linear/Nonlinear Auto Disturbance Rejection Switching Control in Inverted Pendulum System
Authors: 
Jin Xian, Zhu Haichen, Wang MingAuthors Info & Claims
Jin Xian, Zhu Haichen, Wang MingAuthors Info & ClaimsPages 393 - 397
Abstract
The active disturbance rejection control is used to design the control scheme for the vertical inverted pendulum system. Based on the original active disturbance rejection control algorithm, a linear/nonlinear switched extended state observer is proposed for such an unstable system with single input and double output, strong nonlinear and strong coupling. Firstly, the reason of the limited ability of nonlinear extended state observer to estimate large perturbations is analyzed, then a linear extended state observer is proposed to make up for the defects of NLESO, and the feasibility of the proposed linear/nonlinear auto disturbance rejection switching control is verified by numerical simulation.
References
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GAO Qiang, MA Guang, DONG Chao. 2006. Research on Real-time Control of Rotating Inverted Pendulum Based on T-S Fuzzy Control [C]//Proceeding of the Chinese Control and Decision Conference. Tianjin, 2006: 473--475.
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LI Jie, QI Xianhui, XIA Yuanqing, et al. On linear/nonlinear active disturbance rejection switching control. Acta Automatica Sinica, 2016, 42(2): 202 - 212.
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Index Terms
- Implementation of Linear/Nonlinear Auto Disturbance Rejection Switching Control in Inverted Pendulum System
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Published In
October 2020
470 pages
ISBN:9781450388306
DOI:10.1145/3438872
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Published: 25 December 2020
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RICAI 2020
RICAI 2020: 2020 2nd International Conference on Robotics, Intelligent Control and Artificial Intelligence
October 17 - 19, 2020
Shanghai, China
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