TY - JOUR
T1 - On the tracking of fast trajectories of a 3DOF torsional plant
T2 - A flatness based ADRC approach
AU - Ramírez-Neria, Mario
AU - Gao, Zhiqiang
AU - Sira-Ramirez, Hebertt
AU - Garrido-Moctezuma, Ruben
AU - Luviano-Juarez, Alberto
N1 - Publisher Copyright:
© 2020 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd.
PY - 2021/5
Y1 - 2021/5
N2 - In this article, a highly oscillatory 3 degrees of freedom (DOF) torsional plant is used to demonstrate the effectiveness of the combined differential flatness property and active disturbance rejection control (ADRC) methodology in the output tracking of fast reference trajectory and vibration suppression problems. The controller design is synthesized in the absence of detailed knowledge of the system model, which means that the resonant modes are essentially unknown to the designer. Experimental results confirm that the excellent rest-to-rest trajectory tracking performance is attained while permanently attenuating remaining vibrations in all the three disks.
AB - In this article, a highly oscillatory 3 degrees of freedom (DOF) torsional plant is used to demonstrate the effectiveness of the combined differential flatness property and active disturbance rejection control (ADRC) methodology in the output tracking of fast reference trajectory and vibration suppression problems. The controller design is synthesized in the absence of detailed knowledge of the system model, which means that the resonant modes are essentially unknown to the designer. Experimental results confirm that the excellent rest-to-rest trajectory tracking performance is attained while permanently attenuating remaining vibrations in all the three disks.
KW - active disturbance rejection
KW - differential flatness
KW - torsional plant
KW - underactuated systems
KW - vibration control
UR - http://www.scopus.com/inward/record.url?scp=85078267271&partnerID=8YFLogxK
U2 - 10.1002/asjc.2300
DO - 10.1002/asjc.2300
M3 - Artículo
SN - 1561-8625
VL - 23
SP - 1367
EP - 1379
JO - Asian Journal of Control
JF - Asian Journal of Control
IS - 3
ER -