ESO Architectures in the Trajectory Tracking ADR Controller for a Mechanical System: A Comparison
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ D ] doktorant | [ P ] pracownik
2020
rozdział w monografii naukowej / referat
angielski
- Active Disturbance Rejection Control (ADRC)
- Extended State Observer (ESO)
- trajectory tracking
- mechanical systems
EN Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The observation quality of total disturbance has a significant impact on the control error values, making room for a potential improvement of control system performance using different structures of ESO. In this article, we provide a quantitative comparison between the Luenberger and Astolfi/Marconi (AM) observers designed for three different extended state representations and utilized in the trajectory tracking ADR controller designed for a mechanical system. Included results were obtained in the simple simulation case, followed by the experimental validation on the main axis of a telescope mount.
24.06.2020
1323 - 1335
20th Polish Control Conference (KKA 2020), 14-29.10.2020, Łódź, Polska
20