Trajectory Tracking with Generalized Active Disturbance Rejection Control Using Kalman Filter-based Extended State Observer

被引：1

作者：

Mrotek, Mikolaj ^{[1
]}

Michalski, Jacek ^{[1
]}

机构：

[1] Poznan Univ Tech, Inst Robot & Machine Intelligence, Piotrowo 3a, PL-60965 Poznan, Poland

来源：

2024 28TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS, MMAR 2024 | 2024年

关键词：

Kalman filter; ADRC; ball balancing table; feedforward;

D O I：

10.1109/MMAR62187.2024.10680815

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses trajectory tracking in a stochastic environment. Active disturbance rejection control (ADRC) in a generalized approach was designed for a two degrees of freedom (DoF) mechanical system, a ball balancing table (BBT). A modification of the extended state observer (ESO) tuning based on the Kalman filter (KF) gains was presented. The experiments were carried out for different levels of measurement noise. Using the proposed modification of the ESO gains selection, a better quality of trajectory tracking under measurement noises was achieved compared to the standard pole placement (PP) tuning method.

引用

页码：316 / 321

页数：6

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