TY - JOUR
T1 - Tracking control of uncertain time delay systems
T2 - An ADRC approach
AU - Castañeda, L. A.
AU - Luviano-Juárez, A.
AU - Ochoa-Ortega, G.
AU - Chairez, I.
N1 - Publisher Copyright:
© 2018 Elsevier Ltd
PY - 2018/9
Y1 - 2018/9
N2 - 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.
AB - 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.
KW - Active disturbance rejection
KW - Extended state observers
KW - Generalized proportional integral observers
KW - Time delay systems
KW - Ultralocal models
UR - http://www.scopus.com/inward/record.url?scp=85049304129&partnerID=8YFLogxK
U2 - 10.1016/j.conengprac.2018.06.015
DO - 10.1016/j.conengprac.2018.06.015
M3 - Artículo
SN - 0967-0661
VL - 78
SP - 97
EP - 104
JO - Control Engineering Practice
JF - Control Engineering Practice
ER -