Tracking control for a cascade perturbed control system using the active disturbance rejection paradigm

• Autorzy: Patelski Radosław , Pazderski Dariusz

Identyfikatory

DOI

10.24425/acs.2019.129387

• Języki publikacji: EN

Abstrakty

EN

In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which describes dynamics of the input. The main theoretical result establishes the conditions for Lyapunov stability formulated for the perturbed cascade control structure taking advantage of the active rejection disturbance approach. In particular, limitations imposed on a feasible set of an observer bandwidth are discussed. In order to illustrate characteristics of the closed-loop control system simulation results are presented. Furthermore, the particular implementation of the cascade control algorithm is verified experimentally using a two-axis telescope mount. The obtained results confirm that the considered control strategy can be efficiently applied for a class of mechanical systems when a high position tracking precision is required.

Słowa kluczowe

EN

active disturbance rejection; cascade control systems; stability of perturbed systems; high-precision tracking control; control of astronomical mounts

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2019
• Tom: Vol. 29, No. 2
• Strony: 378--408
• Opis fizyczny: Bibliogr. 26 poz., rys., tab., wzory

Twórcy

autor

Patelski Radosław

• Poznań University of Technology, Institute of Automation and Robotics, ul. Piotrowo 3a, 60-965 Poznań, Poland

autor

Pazderski Dariusz

• Poznań University of Technology, Institute of Automation and Robotics, ul. Piotrowo 3a, 60-965 Poznań, Poland

Bibliografia

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Uwagi

EN

1. This work was supported by the National Science Centre (NCN) under the grant No. 2014/15/B/ST7/00429, contract No. UMO-2014/15/B/ST7/00429.

PL

2. Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).