Multivariable Linear Position Control Based on Active Disturbance Rejection for Two Linear Slides Coupled to a Mass

Abstract

Active Disturbance Rejection Control (ADRC) is a promising approach that has emerged to deal with uncertainties, which has received many practical applications in motion controls. This paper presents a multivariable controller for active disturbance rejection (ADR) based on an extended state linear observer for tracking the linear position trajectory of a mass moved by two linear slides, each one driven by a DC motor. The linear extended state observer is used to estimate the endogenous and exogenous disturbances of the system, which are assumed to be unknown, but bounded. Therefore, the feedback system prevents each actuator from operating at different forward speeds, and thus a synchronization between the two actuators is achieved by moving the common mass smoothly. The simulation and the experimental results show the effectiveness and robustness of the controller proposal when moving the mass with both actuators.

Keywords

• linear multivariable systems
• disturbance rejection
• observers for linear systems
• mechatronic systems
• mass driven with two linear sliders
• position control