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.
Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received December 5, 2017; final manuscript received February 5, 2019; published online March 13, 2019. Assoc. Editor: Douglas Bristow.
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Sariyildiz, E., Mutlu, R., and Zhang, C. (March 13, 2019). "Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space." ASME. J. Dyn. Sys., Meas., Control. June 2019; 141(6): 061013. https://doi.org/10.1115/1.4042878
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