TY - GEN
T1 - Trajectory tracking adaptive disturbance rejection controller for a tomographic robotic system
AU - Vera, Pamela
AU - Luviano, Alberto
AU - Santos-Cuevas, Leticia
AU - Chairez, Isaac
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/11/8
Y1 - 2017/11/8
N2 - This study presents a solution to design an automatic controller that forces the trajectory tracking of a tomographic robotic system. The methodology to design the controller was the Active Disturbance Rejection Control (ADRC). A pseudo-adaptive version of ADRC enforces a smooth trajectory tracking with a small ultimate bound for the tracking error. The control solution used the estimation of velocity that was estimated by an extended adaptive state observer included in the ADRC solution. A set of numerical evaluations over a tomographic robotic system proved the efficiency of the proposal in terms of a performance index.
AB - This study presents a solution to design an automatic controller that forces the trajectory tracking of a tomographic robotic system. The methodology to design the controller was the Active Disturbance Rejection Control (ADRC). A pseudo-adaptive version of ADRC enforces a smooth trajectory tracking with a small ultimate bound for the tracking error. The control solution used the estimation of velocity that was estimated by an extended adaptive state observer included in the ADRC solution. A set of numerical evaluations over a tomographic robotic system proved the efficiency of the proposal in terms of a performance index.
UR - http://www.scopus.com/inward/record.url?scp=85045540722&partnerID=8YFLogxK
U2 - 10.1109/CoDIT.2017.8102621
DO - 10.1109/CoDIT.2017.8102621
M3 - Contribución a la conferencia
AN - SCOPUS:85045540722
T3 - 2017 4th International Conference on Control, Decision and Information Technologies, CoDIT 2017
SP - 377
EP - 382
BT - 2017 4th International Conference on Control, Decision and Information Technologies, CoDIT 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th International Conference on Control, Decision and Information Technologies, CoDIT 2017
Y2 - 5 April 2017 through 7 April 2017
ER -