<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>We introduce an algebraically active disturbance rejection-based control solution for the trajectory tracking problem of an uncertain second-order flat system with unknown external disturbances. To this end, we first algebraically identify the system’s unknown dynamics and the external disturbances with a linear set of time-varying integral expressions for the output and the control signal. We use the identified dynamics on an online feedback cancellation scheme to linearize the second-order system and cancel the uncertainties. With a proportional-integral controller we stabilize the linearized system without the need to estimate the velocity and have feedback from it. We carry out the stability analysis using linear systems theory. Finally, we evaluate the effectiveness of the proposed controller in a partially known 2-DOF manipulator.</p>
</abstract>

We introduce an algebraically active disturbance rejection-based control solution for the trajectory tracking problem of an uncertain second-order flat system with unknown external disturbances. To this end, we first algebraically identify the system’s unknown dynamics and the external disturbances with a linear set of time-varying integral expressions for the output and the control signal. We use the identified dynamics on an online feedback cancellation scheme to linearize the second-order system and cancel the uncertainties. With a proportional-integral controller we stabilize the linearized system without the need to estimate the velocity and have feedback from it. We carry out the stability analysis using linear systems theory. Finally, we evaluate the effectiveness of the proposed controller in a partially known 2-DOF manipulator.

Algebraic Active Disturbance Rejection to Control a Generalized Uncertain Second–Order Flat System

Faculty of Physical and Mathematical Sciences, Autonomous University of Nuevo Leon

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

We introduce an algebraically active disturbance rejection-based control solution for the trajectory tracking problem of an uncertain second-order flat system...

Algebraic Active Disturbance Rejection to Control a Generalized Uncertain Second–Order Flat System

Publié en ligne: 25 juin 2024

Pages: 185 - 198

Reçu: 20 avr. 2023

Accepté: 11 janv. 2024

DOI: https://doi.org/10.61822/amcs-2024-0013

Mots clés
active disturbance rejection control, uncertain flat system, numerical methods, algebraic estimation, 2-DOF manipulator

© 2024 Carlos Aguilar-Ibanez et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Algebraic Active Disturbance Rejection to Control a Generalized Uncertain Second–Order Flat System

Publié en ligne: 25 juin 2024

Pages: 185 - 198

Reçu: 20 avr. 2023

Accepté: 11 janv. 2024

DOI: https://doi.org/10.61822/amcs-2024-0013

Mots clésactive disturbance rejection control, uncertain flat system, numerical methods, algebraic estimation, 2-DOF manipulator

© 2024 Carlos Aguilar-Ibanez et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Mots clés
active disturbance rejection control, uncertain flat system, numerical methods, algebraic estimation, 2-DOF manipulator