期刊
IEEE ACCESS
卷 9, 期 -, 页码 102663-102670出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3096138
关键词
Trajectory tracking; Observers; Task analysis; Robots; Robust control; Prototypes; Control design; Active disturbance rejection; Pendubot; underactuated systems; extended state observers; tangent linearization
资金
- Universidad Iberoamericana Ciudad de Mexico, Division de Investigacion y Posgrado (DINVP), Ciudad de Mexico, Mexico [25]
- Secretaria de Investigacion y Posgrado del Instituto Politecnico Nacional (SIP-IPN) [SIP 20210259]
In this article, an ESO-based ADRC scheme is applied to the Pendubot system for trajectory tracking tasks, leading to accurate tracking results. The scheme takes advantage of the flatness property of the system and assumes limited knowledge of the underactuated 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 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.
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