Robust Output Control of an Uncertain Underactuated 2DOF Mass-Spring-Damper System with Backlash Based on Active Disturbance Rejection Control Structure
Joint Authors
Almeida, David I. Rosas
Rascón, Raul
Cuesta, Ricardo
Mario Mora, C.
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-10, 10 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-05
Country of Publication
Egypt
No. of Pages
10
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1208934