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...
Main Authors: | Mario Ramirez-Neria, Hebertt Sira-Ramirez, Ruben Garrido-Moctezuma, Alberto Luviano-Juarez, Zhiqiang Gao |
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Format: | Article |
Language: | English |
Published: |
IEEE
2021-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/9478840/ |
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