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Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure
المؤلفون المشاركون
Almeida, David I. Rosas
Rascón, Raul
Cuesta, Ricardo
Mario Mora, C.
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2018، العدد 2018 (31 ديسمبر/كانون الأول 2018)، ص ص. 1-10، 10ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2018-07-05
دولة النشر
مصر
عدد الصفحات
10
التخصصات الرئيسية
الملخص EN
We propose a strategy to solve the tracking and regulation problem for a 2DOF underactuated mass-spring-damper system with backlash on the underactuated joint, parametric uncertainties, and partial measurement of the state vector.
The design of the controller is divided into two stages; in the first stage, it is assumed that the full state vector and all perturbations in the system are available.
The model is divided into one actuated subsystem and one underactuated subsystem.
The position of the actuated mass is defined as the control input of the underactuated subsystem, which is designed as an ideal controller that solves the tracking and regulation control problems for the underactuated mass.
Finally, the control input of the actuated subsystem is designed to solve the tracking problem considering as a reference signal the control signal of the underactuated subsystem.
The second stage solves the problem of the implementation of the previously designed ideal controller using the active disturbances rejection control structure (ADRC).
Here state observers estimate the nonmeasured state variables and, at the same time, estimate perturbations and auxiliary signals for their compensation.
The performance of the closed-loop system is illustrated by numerical simulations and experimental results.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Mario Mora, C.& Almeida, David I. Rosas& Rascón, Raul& Cuesta, Ricardo. 2018. Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1208934
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Mario Mora, C.…[et al.]. Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure. Mathematical Problems in Engineering No. 2018 (2018), pp.1-10.
https://search.emarefa.net/detail/BIM-1208934
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Mario Mora, C.& Almeida, David I. Rosas& Rascón, Raul& Cuesta, Ricardo. Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-10.
https://search.emarefa.net/detail/BIM-1208934
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1208934
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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