Tracking control of uncertain time delay systems: An ADRC approach

被引：27

作者：

Castaneda, L. A. ^{[1
]}

Luviano-Juarez, A. ^{[1
]}

Ochoa-Ortega, G. ^{[2
]}

Chairez, I. ^{[3
]}

机构：

[1] Inst Politecn Nacl, UPIITA, Av IPN 2580, Ciudad De Mexico 07340, Mexico

[2] Univ Politecn Valle de Mexico, Av Mexiquense S-N, Tultitlan 54910, Mexico

[3] Inst Politecn Nacl, UPIBI, Av Acueducto Guadalupe S-N, Ciudad De Mexico 07340, Mexico

来源：

CONTROL ENGINEERING PRACTICE | 2018年 / 78卷

关键词：

Active disturbance rejection; Time delay systems; Extended state observers; Generalized proportional integral observers; Ultralocal models; DISTURBANCE REJECTION CONTROL; SMITH PREDICTOR; TELEOPERATION; INPUT; EXTENSION;

D O I：

10.1016/j.conengprac.2018.06.015

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 article deals with the control of a class of robotic systems with constant input time delay through the Active Disturbance Rejection paradigm, by means of Generalized Proportional Integral observers. The system is represented as a linear perturbed system, whose lumped disturbance input is estimated and then compensated by an Extended State Observer-Based Control, which is implemented on a predictor scheme for the time delay compensation. A complete Lyapunov Krasovskii functional was used to perform the stability analysis, leading to an ultimate bound trajectory tracking error. The proposal is tested and validated on a two degrees of freedom robotic manipulator.

引用

页码：97 / 104

页数：8

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