Abstract
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.
Highlights
INTRODUCTIONThe use of underactuated systems in many engineering applications (spacecraft, aerial robotic systems, underwater vehicles, locomotive systems, flexible robotics, etc) has been increased by virtue of their advantages such as cost reduction, lighter structures, smaller dimensions, among others
Up to now, the use of underactuated systems in many engineering applications has been increased by virtue of their advantages such as cost reduction, lighter structures, smaller dimensions, among others
Since the resulting linearized system has the cascade property, the observer order is naturally reduced by using an auxiliary measurable variable, usually in terms of a known position coordinate, instead of a high order time derivative of the flat output. This alternative leads to a simpler observer synthesis with improved results in light of additive noises present in the measured outputs, among other advantages which in practice can solve the problem of trajectory tracking control in this class of underactuated systems
Summary
The use of underactuated systems in many engineering applications (spacecraft, aerial robotic systems, underwater vehicles, locomotive systems, flexible robotics, etc) has been increased by virtue of their advantages such as cost reduction, lighter structures, smaller dimensions, among others. The tangent linearization lead to a cascade structure where the system can be represented in terms of a tandem set of second order systems connected by physically measurable signals (overcoming a main drawback of flatnessbased controllers) This structure allows simple solutions for trajectory tracking in a class of nonlinear underactuated. Since the resulting linearized system has the cascade property, the observer order is naturally reduced by using an auxiliary measurable variable, usually in terms of a known position coordinate, instead of a high order time derivative of the flat output This alternative leads to a simpler observer synthesis with improved results in light of additive noises present in the measured outputs, among other advantages which in practice can solve the problem of trajectory tracking control in this class of underactuated systems.
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