IEEE Access (Jan 2021)

Active Disturbance Rejection Control for Reference Trajectory Tracking Tasks in the Pendubot System

  • Mario Ramirez-Neria,
  • Hebertt Sira-Ramirez,
  • Ruben Garrido-Moctezuma,
  • Alberto Luviano-Juarez,
  • Zhiqiang Gao

DOI
https://doi.org/10.1109/ACCESS.2021.3096138
Journal volume & issue
Vol. 9
pp. 102663 – 102670

Abstract

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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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