TY - GEN
T1 - An active disturbance rejection controller for a parallel Robot via Generalized Proportional Integral observers
AU - Ramirez-Neria, M.
AU - Sira-Ramirez, H.
AU - Rodriguez-Angeles, A.
AU - Luviano-Juarez, A.
PY - 2012
Y1 - 2012
N2 - In this article, we address an active disturbance rejection controller design for the output reference trajectory tracking problem in a 3 degree of freedom (DOF) Delta Robot. The proposed method relies on purely linear high gain disturbance observation and linear feedback control techniques. The estimation tasks are carried out with the help of Generalized Proportional Integral (GPI) observers, endowed with output integral injection to counteract zero mean measurement noise effects. As the lumped exogenous and endogenous disturbance inputs are estimated, the observers deliver them to the controllers for on-line disturbance cancelation, while simultaneously the phase variables, related to the measured flat outputs, are being estimated by the same GPI observer. The gathered values of the phase variables are used to complete a linear multivariable output feedback control scheme. The proposed control scheme avoids the traditional computed torque method, reducing the computation time and bypassing the need for explicit, accurate, knowledge of the plant. The estimation and control method is only approximate as small as desired reconstruction, or tracking, errors are guaranteed. The reported results, including laboratory experiments, are significantly better than the results provided by the classical model-based techniques, when the system is subject to endogenous and exogenous uncertainties.
AB - In this article, we address an active disturbance rejection controller design for the output reference trajectory tracking problem in a 3 degree of freedom (DOF) Delta Robot. The proposed method relies on purely linear high gain disturbance observation and linear feedback control techniques. The estimation tasks are carried out with the help of Generalized Proportional Integral (GPI) observers, endowed with output integral injection to counteract zero mean measurement noise effects. As the lumped exogenous and endogenous disturbance inputs are estimated, the observers deliver them to the controllers for on-line disturbance cancelation, while simultaneously the phase variables, related to the measured flat outputs, are being estimated by the same GPI observer. The gathered values of the phase variables are used to complete a linear multivariable output feedback control scheme. The proposed control scheme avoids the traditional computed torque method, reducing the computation time and bypassing the need for explicit, accurate, knowledge of the plant. The estimation and control method is only approximate as small as desired reconstruction, or tracking, errors are guaranteed. The reported results, including laboratory experiments, are significantly better than the results provided by the classical model-based techniques, when the system is subject to endogenous and exogenous uncertainties.
UR - http://www.scopus.com/inward/record.url?scp=84869381816&partnerID=8YFLogxK
U2 - 10.1109/acc.2012.6314934
DO - 10.1109/acc.2012.6314934
M3 - Contribución a la conferencia
AN - SCOPUS:84869381816
SN - 9781457710957
T3 - Proceedings of the American Control Conference
SP - 5478
EP - 5483
BT - 2012 American Control Conference, ACC 2012
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2012 American Control Conference, ACC 2012
Y2 - 27 June 2012 through 29 June 2012
ER -