Mario Ramirez-Neria

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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(More)
— This article studies, an Active Disturbance Rejection Control scheme, using a Generalized PI disturbance observer based control applied to the stabilization problem of the Furuta pendulum. The control scheme assumes a limited knowledge of the system and uses a simplified model of the Furuta pendulum modeled as a disturbed chain of two inte-grators. The(More)
— In this article, we address an active disturbance rejection controller design for the output reference trajectory tracking problem in a 3 degree of freedom (DOF) Delta Robot. The proposed method relies on purely linear high gain disturbance observation and linear feedback control techniques. The estimation tasks are carried out with the help of(More)
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