Algebraic active disturbance rejection to control a generalized uncertain second-order flat system

• Autorzy: Aguilar-Ibanez Carlos , Suarez-Castanon Miguel S. , Saldivar Belem , Jimenez-Lizarraga Manuel A. , de Jesus Rubio Jose , Mendoza-Mendoza Julio

Identyfikatory

DOI

10.61822/amcs-2024-0013

• Języki publikacji: EN

Abstrakty

EN

We introduce an algebraically active disturbance rejection-based control solution for the trajectory tracking problem of an uncertain second-order flat system with unknown external disturbances. To this end, we first algebraically identify the system’s unknown dynamics and the external disturbances with a linear set of time-varying integral expressions for the output and the control signal. We use the identified dynamics on an online feedback cancellation scheme to linearize the second-order system and cancel the uncertainties. With a proportional-integral controller we stabilize the linearized system without the need to estimate the velocity and have feedback from it. We carry out the stability analysis using linear systems theory. Finally, we evaluate the effectiveness of the proposed controller in a partially known 2-DOF manipulator.

Słowa kluczowe

EN

active disturbance rejection control; uncertain flat system; numerical method; algebraic estimation; 2-DOF manipulator

PL

aktywne tłumienie uszkodzeń; układ płaski; metoda numeryczna; estymacja algebraiczna

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2024
• Tom: Vol. 34, no. 2
• Strony: 185--198
• Opis fizyczny: Bibliogr. 54 poz., rys., wykr.

Twórcy

autor

Aguilar-Ibanez Carlos

• Center of Computing Research, National Polytechnic Institute, Av. Juan de Dios Bátiz S/N, 07738, Mexico City, Mexico

autor

Suarez-Castanon Miguel S.

• Higher School of Computing, National Polytechnic Institute, Av. Juan de Dios Bátiz S/N, 07738, Mexico City, Mexico

autor

Saldivar Belem

• Department of Automatic Control, Center for Research and Advanced Studies (CINVESTAV), Av. Instituto Politécnico Nacional 2508, 07360, Mexico City, Mexico

autor

Jimenez-Lizarraga Manuel A.

• Faculty of Physical and Mathematical Sciences, Autonomous University of Nuevo Leon, Av. Universidad S/N, 66451, Nuevo Leon, Mexico

autor

de Jesus Rubio Jose

• Higher School of Mechanical and Electrical Engineering-Azcapotalco Unit, National Polytechnic Institute, Av. de las Granjas 682, 02550, Mexico City, Mexico

autor

Mendoza-Mendoza Julio

• Interdisciplinary Professional Unit in Engineering and Advanced Engineering, National Polytechnic Institute, Av. Instituto Politécnico Nacional 2580, 07340, Mexico City, Mexico

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