TY - JOUR
T1 - A robust controller for trajectory tracking of a DC motor pendulum system
AU - Aguilar-Ibañez, Carlos
AU - Mendoza-Mendoza, Julio
AU - Davila, Jorge
AU - Suarez-Castanon, Miguel S.
AU - Garrido M, Ruben
N1 - Publisher Copyright:
© 2017, Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg.
PY - 2017/8/1
Y1 - 2017/8/1
N2 - This work presents a solution to the output feedback trajectory tracking problem for an uncertain DC motor pendulum system under the effect of an unknown bounded disturbance. The proposed algorithm uses a Proportional Derivative (PD) controller plus a novel on-line estimator of the unknown disturbance. The disturbance estimator is obtained by coupling a standard second-order Luenberger observer with a third-order sliding modes differentiator. The Luenberger observer provides estimates of the motor angular position and velocity. Moreover, an ideal disturbance estimator in terms of the Luenberger observer error and its first and second time derivatives is obtained from the observer error formulae; these time derivatives are not available from measurements. Subsequently, the sliding modes third-order differentiator allows obtaining estimates of these time derivatives in finite time. The estimates replace the real values of the first and second time derivatives in the ideal disturbance estimator thus producing a practical disturbance estimator, and also permit obtaining an estimate of the motor angular velocity. A depart from previous approaches is the fact that the disturbance is not directly estimated by the Luenberger observer or the third-order differentiator. Numerical simulations and real-time experiments validate the effectiveness of the proposed approach.
AB - This work presents a solution to the output feedback trajectory tracking problem for an uncertain DC motor pendulum system under the effect of an unknown bounded disturbance. The proposed algorithm uses a Proportional Derivative (PD) controller plus a novel on-line estimator of the unknown disturbance. The disturbance estimator is obtained by coupling a standard second-order Luenberger observer with a third-order sliding modes differentiator. The Luenberger observer provides estimates of the motor angular position and velocity. Moreover, an ideal disturbance estimator in terms of the Luenberger observer error and its first and second time derivatives is obtained from the observer error formulae; these time derivatives are not available from measurements. Subsequently, the sliding modes third-order differentiator allows obtaining estimates of these time derivatives in finite time. The estimates replace the real values of the first and second time derivatives in the ideal disturbance estimator thus producing a practical disturbance estimator, and also permit obtaining an estimate of the motor angular velocity. A depart from previous approaches is the fact that the disturbance is not directly estimated by the Luenberger observer or the third-order differentiator. Numerical simulations and real-time experiments validate the effectiveness of the proposed approach.
KW - Finite time observer
KW - PD controller
KW - servomechanism
KW - variable structure control
UR - http://www.scopus.com/inward/record.url?scp=85019545477&partnerID=8YFLogxK
U2 - 10.1007/s12555-015-0177-x
DO - 10.1007/s12555-015-0177-x
M3 - Artículo
SN - 1598-6446
VL - 15
SP - 1632
EP - 1640
JO - International Journal of Control, Automation and Systems
JF - International Journal of Control, Automation and Systems
IS - 4
ER -