The Challenging Case of Underactuated Systems

Underactuated systems, which are nondifferentially flat, are treated in the context of trajectory tracking tasks to illustrate the effectiveness of ADRC in the control of nonlinear systems via their controllable tangent linearizations around a given equilibrium point. The trajectories may take the operating point significantly far away from the linearization point, and the neglected nonlinearities may be substantially excited by the features of the desired reference trajectory. In spite of these classical obstacles to tangent linearization-based control, the ADRC scheme yields a quite robust and precise closed-loop performance.

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