Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System
Mario Ramírez‐Neria, H. Sira‐Ramírez, R. Garrido, Alberto Luviano‐Juárez, Zhiqiang Gao
Abstract
In this article, an Extended State Observer (ESO) based Active Disturbance Rejection Control (ADRC) scheme is applied to the Pendubot system for a trajectory tracking tasks. The tangent linearization of the system allows to implement the control scheme taking advantage of the differential flatness property, while including a cascade configuration. The proposed method assumes a limited knowledge of the underactuated system where the control input gain and the order of the system are the only needed data. The scheme is experimentally tested leading to accurate tracking results.
Topics & Concepts
Control theory (sociology)CascadeTrajectoryActive disturbance rejection controlComputer scienceState observerTracking (education)Flatness (cosmology)Feedback linearizationControl engineeringScheme (mathematics)Control systemObserver (physics)UnderactuationControl (management)MathematicsEngineeringNonlinear systemArtificial intelligenceChemical engineeringElectrical engineeringAstronomyCosmologyPedagogyPsychologyMathematical analysisQuantum mechanicsPhysicsAdaptive Control of Nonlinear SystemsDynamics and Control of Mechanical SystemsControl and Dynamics of Mobile Robots