Control por rechazo activo de perturbaciones basado en observadores GPI para un helicóptero de dos grados de libertad
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Jan 5, 2015
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Abstract
Este artículo propone un esquema de control multivariable desacoplado bajo el enfoque del rechazo activo de perturbaciones para un helicóptero de dos grados de libertad (2-DOF). El esquema propuesto se basa en el uso de observadores GPI (Proporcional Integral Generalizado) encargados de estimar las perturbaciones causadas por no linealidades, elementos no modelados, incertidumbre en los parámetros y perturbaciones externas asociadas a cada lazo desacoplado. Posteriormente, se plantean un conjunto de leyes de control lineal para cancelar el efecto de las perturbaciones generalizadas y se muestran los resultados experimentales que validan el esquema de control propuesto.
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Rojas-Cubides, H., Cortés-Romero, J., & Rojas-Cubides, H. (2015). Control por rechazo activo de perturbaciones basado en observadores GPI para un helicóptero de dos grados de libertad. Ingenio Magno, 6(1), 12-22. Retrieved from http://revistas.ustatunja.edu.co/index.php/ingeniomagno/article/view/1024
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Artículos Ingenio Magno Vol. 6-1
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With this document, I/We certify that the article submitted for possible publication in the institutional journal INGENIO MAGNO of the Research Center Alberto Magno CIIAM of the University Santo Tomás, Tunja campus, is entirely of my(our) own writing, and is a product of my(our) direct intellectual contribution to knowledge.
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References
Coral-Enriquez, H., Cortes-Romero, J. y Ramos, G. (2013). Robust active disturbance rejection controlapproach to maximize Energy capture in variable-speed wind turbines. Mathematical Problems in Engineering, 2013, 1-12.
Cortes-Romero, J., Ramos, G. A. y Coral-Enriquez, H. (2014). Generalized proportional integral control for periodic signals under active disturbance rejection approach. ISA Transactions, 53(6), 1901-1909.
Cortes, J. (2011). Métodos de identificación y estimación algebraicos en el control de motores de inducción (tesis doctoral). Ciudad de México: Centro de Investigación y de Estudios Avanzados.
Cortes-Romero, J., Rojas-Cubides, H., Coral- Enriquez, H., Sira-Ramirez, H. y Luviano-Juarez, A. (2013). Active disturbance rejection approach for robust fault-tolerant control via observer assisted sliding mode control. Mathematical Problems in Engineering, 2013, 1-12.
22
Fliess, M. y Diop, S. (1991). Nonlinear observability, identifiability, and persistent trajectories. Proccedings of the IEEE Conference on Decision and Control. Doi: 10.1109/CDC.1991.261405
Gao, Z. (2006). Active disturbance rejection control: a paradigm shift in feedback control system design. en American Control Conference. Doi: 10.1109/ ACC.2006.1656579
Guarnizo, J., Trujillo, C. y Guacaneme, J. (2010). Modeling and control of a Two DOF Helicopter Using a robust control design based on DK iteration. IECON 2010, 36th Annual Conference on IEEE Industrial Electronics Society (pp. 162-167). Doi: 10.1109/ IECON.2010.5675183
Huang, Y. y Xue, W. (2014). Active disturbance rejection control: methodology and theoretical analysis. ISA Transactions, 53(4), 963-976.
Li, D., Li, C., Gao, Z. y Jin, Q. (2015). On active disturbance rejection in temperature regulation of the proton exchange membrane fuel cells. Journal of Power Sources, 283, 452-463.
Luviano, A. y Cortes, J. (2009). Robust Discrete Generalized Proportional Integral Control: application in mechanical systems. European Control Conference (pp. 23-26). Budapest, Hungria.
Ollero, A. (2001). Robótica: manipuladores y robots móviles. Barcelona: Marcombo.
Palunko, I. y Bogdan, S. (2009). Small helicopter control design based on model reduction and decoupling. Journal of Intelligent and Robotic Systems, 54(1-3), 201-228.
Quanser (2006). Aerospace Plant: 2-DOF Helicopter, position control, reference manual. Autor.
Rojas-Cubides, H. D. (2015). Control tolerante a fallos de un helicóptero 2-DOF integrando métodos de identificación algebraica y técnicas de control GPI (tesis de maestría). Bogotá: Universidad Nacional de Colombia.
Sira-Ramírez, H. y Agrawal, S. K. (2004). Differentially flat systems. Nueva York: Marcel Dekker.
Sira-Ramírez, H., Cortes-Romero, J. y Luviano-Juarez, A. (2010). A GPI sliding mode control approach for linear controllable switched systems. 11th International Workshop on Variable Structure Systems (VSS) (pp. 289-294). Doi: 10.1109/VSS.2010.5544665
Sira-Ramirez, H., Luviano-Juarez, A. y Cortes-Romero, J. (2011). Control lineal robusto de sistemas no lineales diferencialmente planos. Revista Iberoamericana de Automática e Informática Industrial (RIAI), 8(1), 14-28. Takatsu, H. e Itoh, T. (1999). Future needs for control theory in industry-report of the control technology survey in Japanese industry. Control Systems Technology, IEEE Transactions on, 7(3), 298-305.
Wang, Q. (2003). Decoupling control. Nueva York: Springer-Verlag.
Zheng, Q. y Gao, Z. (2014). Predictive active disturbance rejection control for processes with time delay. ISA Transactions, 53(4), 873-881.
Zheng, Q., Chen, Z. y gao, z. (2007). A dynamic decoupling control approach and its applications to chemical processes. Proceedings of the 2007 American Control Conference (pp. 5176-5181). Doi: 10.1109/ ACC.2007.4282973
Zheng, Q., Chen, Z. y Gao, Z. (2009). A practical approach to disturbance decoupling control. Control Engineering Practice, 17(9), 1016-1025.
Cortes-Romero, J., Ramos, G. A. y Coral-Enriquez, H. (2014). Generalized proportional integral control for periodic signals under active disturbance rejection approach. ISA Transactions, 53(6), 1901-1909.
Cortes, J. (2011). Métodos de identificación y estimación algebraicos en el control de motores de inducción (tesis doctoral). Ciudad de México: Centro de Investigación y de Estudios Avanzados.
Cortes-Romero, J., Rojas-Cubides, H., Coral- Enriquez, H., Sira-Ramirez, H. y Luviano-Juarez, A. (2013). Active disturbance rejection approach for robust fault-tolerant control via observer assisted sliding mode control. Mathematical Problems in Engineering, 2013, 1-12.
22
Fliess, M. y Diop, S. (1991). Nonlinear observability, identifiability, and persistent trajectories. Proccedings of the IEEE Conference on Decision and Control. Doi: 10.1109/CDC.1991.261405
Gao, Z. (2006). Active disturbance rejection control: a paradigm shift in feedback control system design. en American Control Conference. Doi: 10.1109/ ACC.2006.1656579
Guarnizo, J., Trujillo, C. y Guacaneme, J. (2010). Modeling and control of a Two DOF Helicopter Using a robust control design based on DK iteration. IECON 2010, 36th Annual Conference on IEEE Industrial Electronics Society (pp. 162-167). Doi: 10.1109/ IECON.2010.5675183
Huang, Y. y Xue, W. (2014). Active disturbance rejection control: methodology and theoretical analysis. ISA Transactions, 53(4), 963-976.
Li, D., Li, C., Gao, Z. y Jin, Q. (2015). On active disturbance rejection in temperature regulation of the proton exchange membrane fuel cells. Journal of Power Sources, 283, 452-463.
Luviano, A. y Cortes, J. (2009). Robust Discrete Generalized Proportional Integral Control: application in mechanical systems. European Control Conference (pp. 23-26). Budapest, Hungria.
Ollero, A. (2001). Robótica: manipuladores y robots móviles. Barcelona: Marcombo.
Palunko, I. y Bogdan, S. (2009). Small helicopter control design based on model reduction and decoupling. Journal of Intelligent and Robotic Systems, 54(1-3), 201-228.
Quanser (2006). Aerospace Plant: 2-DOF Helicopter, position control, reference manual. Autor.
Rojas-Cubides, H. D. (2015). Control tolerante a fallos de un helicóptero 2-DOF integrando métodos de identificación algebraica y técnicas de control GPI (tesis de maestría). Bogotá: Universidad Nacional de Colombia.
Sira-Ramírez, H. y Agrawal, S. K. (2004). Differentially flat systems. Nueva York: Marcel Dekker.
Sira-Ramírez, H., Cortes-Romero, J. y Luviano-Juarez, A. (2010). A GPI sliding mode control approach for linear controllable switched systems. 11th International Workshop on Variable Structure Systems (VSS) (pp. 289-294). Doi: 10.1109/VSS.2010.5544665
Sira-Ramirez, H., Luviano-Juarez, A. y Cortes-Romero, J. (2011). Control lineal robusto de sistemas no lineales diferencialmente planos. Revista Iberoamericana de Automática e Informática Industrial (RIAI), 8(1), 14-28. Takatsu, H. e Itoh, T. (1999). Future needs for control theory in industry-report of the control technology survey in Japanese industry. Control Systems Technology, IEEE Transactions on, 7(3), 298-305.
Wang, Q. (2003). Decoupling control. Nueva York: Springer-Verlag.
Zheng, Q. y Gao, Z. (2014). Predictive active disturbance rejection control for processes with time delay. ISA Transactions, 53(4), 873-881.
Zheng, Q., Chen, Z. y gao, z. (2007). A dynamic decoupling control approach and its applications to chemical processes. Proceedings of the 2007 American Control Conference (pp. 5176-5181). Doi: 10.1109/ ACC.2007.4282973
Zheng, Q., Chen, Z. y Gao, Z. (2009). A practical approach to disturbance decoupling control. Control Engineering Practice, 17(9), 1016-1025.