Journal article
Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space
Journal of dynamic systems, measurement, and control, Vol.141(6), 061013
01/06/2019
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Abstract
This paper proposes a new active disturbance rejection (ADR) based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references are generated in terms of a fictitious design variable, namely differentially flat output, and the estimations of disturbances by using differential flatness (DF) and disturbance observer (DOb). Two different robust controller design techniques are proposed by using Brunovsky canonical form and polynomial matrix form approaches. The robust position control problem of a two mass-spring-damper system is studied to verify the proposed ADR controllers.
Details
- Title
- Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space
- Creators
- Emre Sariyildiz - University of WollongongRahim Mutlu - University of WollongongChuanlin Zhang - Shanghai University of Electric Power
- Publication Details
- Journal of dynamic systems, measurement, and control, Vol.141(6), 061013
- Publisher
- Asme
- Number of pages
- 7
- Identifiers
- 991013225779102368
- Copyright
- © 2019 by ASME
- Academic Unit
- Faculty of Science and Engineering
- Language
- English
- Resource Type
- Journal article