Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System
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 p...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2021-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/9478840/ |
| _version_ | 1819151268578328576 |
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| author | Mario Ramirez-Neria Hebertt Sira-Ramirez Ruben Garrido-Moctezuma Alberto Luviano-Juarez Zhiqiang Gao |
| author_facet | Mario Ramirez-Neria Hebertt Sira-Ramirez Ruben Garrido-Moctezuma Alberto Luviano-Juarez Zhiqiang Gao |
| author_sort | Mario Ramirez-Neria |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-22T14:30:42Z |
| format | Article |
| id | doaj.art-15c5fb32c2aa485fa48a51e181da173d |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-22T14:30:42Z |
| publishDate | 2021-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-15c5fb32c2aa485fa48a51e181da173d2022-12-21T18:22:45ZengIEEEIEEE Access2169-35362021-01-01910266310267010.1109/ACCESS.2021.30961389478840Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot SystemMario Ramirez-Neria0Hebertt Sira-Ramirez1Ruben Garrido-Moctezuma2https://orcid.org/0000-0002-6227-2779Alberto Luviano-Juarez3https://orcid.org/0000-0001-8790-4165Zhiqiang Gao4https://orcid.org/0000-0003-1917-8311InIAT Instituto de Investigación Aplicada y Tecnología, Universidad Iberoamericana Ciudad de México, Ciudad de Mexico, MexicoElectrical Engineering Department, Mechatronics Section, Cinvestav-IPN, Mexico City, MexicoAutomatic Control Department, Cinvestav-IPN, Mexico City, MexicoInstituto Politécnico Nacional–UPIITA, Ciudad de Mexico, MexicoDepartment of Electrical and Computer Engineering, Center for Advanced Control Technologies, Cleveland State University, Cleveland, OH, USAIn 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.https://ieeexplore.ieee.org/document/9478840/Active disturbance rejectionPendubotunderactuated systemsextended state observerstangent linearization |
| spellingShingle | Mario Ramirez-Neria Hebertt Sira-Ramirez Ruben Garrido-Moctezuma Alberto Luviano-Juarez Zhiqiang Gao Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System IEEE Access Active disturbance rejection Pendubot underactuated systems extended state observers tangent linearization |
| title | Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System |
| title_full | Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System |
| title_fullStr | Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System |
| title_full_unstemmed | Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System |
| title_short | Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System |
| title_sort | active disturbance rejection control for reference trajectory tracking tasks in the pendubot system |
| topic | Active disturbance rejection Pendubot underactuated systems extended state observers tangent linearization |
| url | https://ieeexplore.ieee.org/document/9478840/ |
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