Active Disturbance Rejection Control of Dynamic Systems

1. Introduction
  1.1 A Brief Historical Perspective on Active Disturbance Rejection Control
  References

2. Generalities of ADRC
  2.1 Introduction
  2.2 Main Theoretical Issues
  2.3 The Need for Flatness-Based ADRC Designs
  2.4 Ultralocal Disturbance Models
  References

3. Merging Flatness, GPI Observation and GPI Control with ADRC
  3.1 Introduction
  3.2 GPI Extended State Observer Design
  3.3 An Observer-Based Approach to GPI Perturbation Rejection
  3.4 The Buck Converter
  3.5 Example: A Pendulum System
  3.6 Two-Link Robot Manipulator
  3.7 Nonholonomic Wheeled Car
  3.8 Two-Mass Rectilinear Mechanism
  3.9 Remarks
  References

4. Extensions of ADRC
  4.1 Introduction
  4.2 Integral Reconstructors of MIMO Linear Systems
  4.3 A Lyapunov Approach for a Class of Nonlinear Multivariable Systems
  4.4 Combined Sliding-Mode–ADRC Controllers
  4.5 ADRC and Sampled Systems: The Delta Operator Approach
  4.6 Control of Time Delay Systems
  4.7 Relations With Model-Free Control
  4.8 Fractional-Order Systems
  References

5. Case Studies
  5.1 Introduction
  5.2 A Two-Degree-of-Freedom Robotic Arm
  5.3 An Omnidirectional Robot
  5.4 A Single-Link Manipulator Driven by a Synchronous Motor
  5.5 Nonlinear Pendulum System
  5.6 The Thomson Ring
  5.7 Trajectory Tracking Control of a Delta Robot
  5.8 A Time-Delayed Flywheel System
  5.9 Control of Robot Manipulators with Delayed Inputs
  References

6. The Challenging Case of Underactuated Systems
  6.1 Introduction
  6.2 Controlling the Pendubot via Tangent Linearization
  6.3 A Two-Mass Spring System with an Inverted Pendulum
  6.4 Double Inverted Pendulum on a Cart
  6.5 The Furuta Pendulum
  6.6 The Ball-and-Beam System
  6.7 Remarks
  References
A. Differential Flatness
  A.1 Definition of Flatness
  A.2 Illustrative Examples
  A.3 About the Advantages and Disadvantages of Flatness
  A.4 Differential Flatness and Uncertainty
  References
B. Generalized Proportional Integral Control
  B.1 Definitions and Generalities
  B.2 Generalized Proportional Integral Control and Classical Compensation Networks
  B.3 An Illustrative Application Example
  B.4 GPI Control for Discrete-Time Systems
  B.5 A General Result for Multivariable Linear Systems
  References
  Index