Trajectory Tracking with Generalized Active Disturbance Rejection Control Using Kalman Filter-based Extended State Observer
[ 1 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Robotyki i Inteligencji Maszynowej, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ S ] student | [ P ] employee
[2.2] Automation, electronics, electrical engineering and space technologies
2024
chapter in monograph / paper
english
- Kalman filter
- ADRC
- ball balancing table
- feedforward
EN This paper addresses trajectory tracking in a stochastic environment. Active disturbance rejection control (ADRC) in a generalized approach was designed for a two degrees of freedom (DoF) mechanical system, a ball balancing table (BBT). A modification of the extended state observer (ESO) tuning based on the Kalman filter (KF) gains was presented. The experiments were carried out for different levels of measurement noise. Using the proposed modification of the ESO gains selection, a better quality of trajectory tracking under measurement noises was achieved compared to the standard pole placement (PP) tuning method.
316 - 321
Wysokość opłaty za publikację: 1750 PLN; środki finansowe, o których mowa w art. 365 pkt 2 ustawy
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