Tracking control of uncertain time delay systems: An ADRC approach

L. A. Castañeda, A. Luviano-Juárez, G. Ochoa-Ortega, I. Chairez

Research output: Contribution to journalArticlepeer-review

26 Scopus citations

Abstract

This article deals with the control of a class of robotic systems with constant input time delay through the Active Disturbance Rejection paradigm, by means of Generalized Proportional Integral observers. The system is represented as a linear perturbed system, whose lumped disturbance input is estimated and then compensated by an Extended State Observer-Based Control, which is implemented on a predictor scheme for the time delay compensation. A complete Lyapunov Krasovskii functional was used to perform the stability analysis, leading to an ultimate bound trajectory tracking error. The proposal is tested and validated on a two degrees of freedom robotic manipulator.

Original languageEnglish
Pages (from-to)97-104
Number of pages8
JournalControl Engineering Practice
Volume78
DOIs
StatePublished - Sep 2018

Keywords

  • Active disturbance rejection
  • Extended state observers
  • Generalized proportional integral observers
  • Time delay systems
  • Ultralocal models

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