Active Disturbance Rejection Control of High-Order Flat Underactuated Systems: Mass-Spring Benchmark Problem

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


A custom active disturbance rejection control (ADRC) is proposed for trajectory tracking in uncertain underactuated systems. By utilizing a particular property of the differentially flat plant model, a robust output-feedback controller with a novel cascade of extended state observers (ESO) is introduced. It effectively deals with the problem of governing high-order plants without over-amplification of the measurement noise, typically seen in conventional single high-gain observer-centered control approaches. The proposed solution is based on full utilization of the information already available about the governed system, without necessity for additional measurement devices. In order to be easily implementable, it assumes only limited knowledge of the system model and is expressed in an industry familiar error-based form with a straightforward tuning method. A representable two-mass three-spring benchmark problem is used throughout the paper to convey the proposed idea and evaluate it experimentally on a laboratory testbed.


ADRC Disturbance rejection Underactuated system 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Energy Electricity Research Center, International Energy CollegeJinan UniversityZhuhaiPeople’s Republic of China
  2. 2.Mechatronics DepartmentUniversidad Politecnica del Valle de Mexico, UPVMFuentes del ValleMexico
  3. 3.Institute of Robotics and Machine Intelligence, Faculty of Control, Robotics and Electrical EngineeringPoznan University of TechnologyPoznanPoland

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