Abstract
Proper operation of the Active Disturbance Rejection (ADR) controller requires a precise determination of the so-called total disturbance affecting the considered dynamical system, usually estimated by the Extended State Observer (ESO). The observation quality of total disturbance has a significant impact on the control error values, making room for a potential improvement of control system performance using different structures of ESO. In this article, we provide a quantitative comparison between the Luenberger and Astolfi/Marconi (AM) observers designed for three different extended state representations and utilized in the trajectory tracking ADR controller designed for a mechanical system. Included results were obtained in the simple simulation case, followed by the experimental validation on the main axis of a telescope mount.
Keywords
This work was partially supported by grants No. 33/32/SIGR/0003 and No. 2014/15/B/ST7/00429.
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Łakomy, K., Patelski, R., Pazderski, D. (2020). ESO Architectures in the Trajectory Tracking ADR Controller for a Mechanical System: A Comparison. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_110
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DOI: https://doi.org/10.1007/978-3-030-50936-1_110
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