TY - GEN
T1 - Design of ADRC for Second-Order Mechanical Systems without Time-Derivatives in the Tracking Controller
AU - Ramirez-Neria, M.
AU - Madonski, R.
AU - Luviano-Juarez, A.
AU - Gao, Z.
AU - Sira-Ramirez, H.
N1 - Publisher Copyright:
© 2020 AACC.
PY - 2020/7
Y1 - 2020/7
N2 - In this article, the problem of designing Active Disturbance Rejection Control (ADRC) for a class of second-order mechanical systems, expressed with Euler-Lagrange equations, is studied. A specific and practically motivated case is considered here, namely trajectory tracking task without the use of signal time-derivatives in the tracking controller. A general solution is proposed showing how to synthesize and tune the observer and the controller parts of the ADRC scheme. A special Extended State Observer is used in the design and here it takes the form of a Generalized Proportional Integral Observer (GPIO), which uses a Taylor series approximation of the total disturbance. A set of experimental results, obtained using a two degree-of-freedom robotic manipulator, shows the effectiveness of the proposed governing scheme in terms of trajectory realization and disturbance rejection without the use of signal time-derivatives in the controller.
AB - In this article, the problem of designing Active Disturbance Rejection Control (ADRC) for a class of second-order mechanical systems, expressed with Euler-Lagrange equations, is studied. A specific and practically motivated case is considered here, namely trajectory tracking task without the use of signal time-derivatives in the tracking controller. A general solution is proposed showing how to synthesize and tune the observer and the controller parts of the ADRC scheme. A special Extended State Observer is used in the design and here it takes the form of a Generalized Proportional Integral Observer (GPIO), which uses a Taylor series approximation of the total disturbance. A set of experimental results, obtained using a two degree-of-freedom robotic manipulator, shows the effectiveness of the proposed governing scheme in terms of trajectory realization and disturbance rejection without the use of signal time-derivatives in the controller.
UR - http://www.scopus.com/inward/record.url?scp=85089568508&partnerID=8YFLogxK
U2 - 10.23919/ACC45564.2020.9147338
DO - 10.23919/ACC45564.2020.9147338
M3 - Contribución a la conferencia
AN - SCOPUS:85089568508
T3 - Proceedings of the American Control Conference
SP - 2623
EP - 2628
BT - 2020 American Control Conference, ACC 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 American Control Conference, ACC 2020
Y2 - 1 July 2020 through 3 July 2020
ER -