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

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

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 p...

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Bibliographic Details
Main Authors: Mario Ramirez-Neria, Hebertt Sira-Ramirez, Ruben Garrido-Moctezuma, Alberto Luviano-Juarez, Zhiqiang Gao
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Active disturbance rejection
Pendubot
underactuated systems
extended state observers
tangent linearization
Online Access:https://ieeexplore.ieee.org/document/9478840/

Internet

https://ieeexplore.ieee.org/document/9478840/

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