Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System

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 p...

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Bibliographic Details
Published inIEEE access Vol. 9; pp. 102663 - 102670
Main Authors Ramirez-Neria, Mario, Sira-Ramirez, Hebertt, Garrido-Moctezuma, Ruben, Luviano-Juarez, Alberto, Gao, Zhiqiang
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Active control
Active disturbance rejection
Control design
Control systems
extended state observers
Observers
Pendubot
Prototypes
Rejection
Robots
Robust control
State observers
tangent linearization
Task analysis
Tracking control
Trajectory control
Trajectory tracking
underactuated systems
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Summary: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.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2021.3096138