TY - JOUR
T1 - Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System
AU - Ramirez-Neria, Mario
AU - Sira-Ramirez, Hebertt
AU - Garrido-Moctezuma, Ruben
AU - Luviano-Juarez, Alberto
AU - Gao, Zhiqiang
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2021
Y1 - 2021
N2 - In this article, an Extended State Observer (ESO) based Active Disturbance Rejection Control (ADRC) scheme is applied to the Pendubot system for a trajectory tracking tasks. The tangent linearization of the system allows to implement the control scheme taking advantage of the differential flatness property, while including a cascade configuration. The proposed method assumes a limited knowledge of the underactuated system where the control input gain and the order of the system are the only needed data. The scheme is experimentally tested leading to accurate tracking results.
AB - In this article, an Extended State Observer (ESO) based Active Disturbance Rejection Control (ADRC) scheme is applied to the Pendubot system for a trajectory tracking tasks. The tangent linearization of the system allows to implement the control scheme taking advantage of the differential flatness property, while including a cascade configuration. The proposed method assumes a limited knowledge of the underactuated system where the control input gain and the order of the system are the only needed data. The scheme is experimentally tested leading to accurate tracking results.
KW - Active disturbance rejection
KW - Pendubot
KW - extended state observers
KW - tangent linearization
KW - underactuated systems
UR - http://www.scopus.com/inward/record.url?scp=85111689720&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2021.3096138
DO - 10.1109/ACCESS.2021.3096138
M3 - Artículo
AN - SCOPUS:85111689720
SN - 2169-3536
VL - 9
SP - 102663
EP - 102670
JO - IEEE Access
JF - IEEE Access
M1 - 9478840
ER -