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Research Papers

Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space

[+] Author and Article Information
Emre Sariyildiz

School of Mechanical, Materials,
Mechatronics and Biomedical Engineering,
University of Wollongong,
Wollongong, NSW 2522, Australia
e-mail: emre@uow.edu.au

Rahim Mutlu

School of Mechanical, Materials,
Mechatronics and Biomedical Engineering,
University of Wollongong,
Wollongong, NSW 2522, Australia
e-mail: rmutlu@uow.edu.au

Chuanlin Zhang

College of Automation Engineering,
Shanghai University of Electric Power,
Shanghai 200090, China
e-mail: clzhang@shiep.edu.cn

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received December 5, 2017; final manuscript received February 5, 2019; published online March 13, 2019. Assoc. Editor: Douglas Bristow.

J. Dyn. Sys., Meas., Control 141(6), 061013 (Mar 13, 2019) (7 pages) Paper No: DS-17-1607; doi: 10.1115/1.4042878 History: Received December 05, 2017; Revised February 05, 2019

This paper proposes a new active disturbance rejection (ADR) based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references are generated in terms of a fictitious design variable, namely differentially flat output, and the estimations of disturbances by using differential flatness (DF) and disturbance observer (DOb). Two different robust controller design techniques are proposed by using Brunovsky canonical form and polynomial matrix form approaches. The robust position control problem of a two mass-spring-damper system is studied to verify the proposed ADR controllers.

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References

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Figures

Grahic Jump Location
Fig. 1

Two mass–spring–damper system

Grahic Jump Location
Fig. 2

Regulation and trajectory tracking control results. PM-based and BCF-based robust DF controllers represent the polynomial matrix based and Brunovsky Canonical form based robust DF controllers, respectively: (a) regulation control results when the conventional DF-based position controller is used, (b) trajectory tracking control results when the conventional DF-based position controller is used, (c) regulation control results when the robust DF-based position controllers are used and τdis≠0, and (d) trajectory tracking control results when the robust DF-based position controllers are used and τdis≠0.

Grahic Jump Location
Fig. 3

Matched and mismatched disturbances and their estimations: (a) disturbances and their estimations when the dynamic model of the system is known, (b) disturbances and their estimations when the dynamic model of the system includes uncertainties, (c) first derivatives of the disturbance and their estimations when the dynamic model of the system includes uncertainties, and (d) second derivatives of the disturbances and their estimations when the dynamic model of the system includes uncertainties

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